机器人随机运动产生的电流、位置、速度、加速度数据集

# CURA6 dataset This is CURA6 dataset. In folder 'learning_data' there are 91 slices of random movements of the CURA6 robot. Each learining slice has about 10,000 samples. While folder 'test_dataset' contains another 91 slices of data with shorter slices. The 'violence_data' has 78 slices with collisions marked in files: '..._punch_timestamp.npy'. From the name you can get the velocity of robot (from 10 to 70 % of maximum velocity) and its load [gram] which takes value from the list: ```python [0, 401, 852, 1086, 1401, 1950, 2116, 2368, 2832, 3222, 3683, 4122, 4652] ``` Data are saved as numpy standard. To unpack them just use this code: ```python import numpy as np file_name = 'learning_data/data_10_0g.npz' data = np.load(file_name) time_stamp = data.get('robot_time_stamp') # relative in seconds sequence_stamp = data.get('robot_seq') # number of sequence robot_movement = data.get('robot_movement') # robot movements [True/False] robot_position = data.get('robot_position') # robot positions [rad] robot_velocity = data.get('robot_velocities') # robot velocities [rad/sec] robot_mcurrent = data.get('robot_iq') # robots motors current [A] target_velocity = data.get('target_velocity') # target velocities [rad/sec] ``` If You want to use the dataset pleas cite us: ```bibitex @article{cura6_dataset, autor = {Czubenko, M. and Kowalczuk, Z.}, title = {Simple neural network for collision detection of collaborative robots}, year = {2021}, journal = {Sensors}, number = {12}, volumen = {21}, pages={4235}, organization = {Intema Sp. z o.o.} } ```