Degradation Measurement of Robot Arm Position Accuracy

Metadata Updated: December 5, 2019

The dataset contains both the robot's high-level tool center position (TCP) health data and controller-level components' information (i.e., joint positions, velocities, currents, temperatures, currents). The datasets can be used by users (e.g., software developers, data scientists) who work on robot health management (including accuracy) but have limited or no access to robots that can capture real data. The datasets can support the:

  • Development of robot health monitoring algorithms and tools
  • Research of technologies and tools to support robot monitoring, diagnostics, prognostics, and health management (collectively called PHM)
  • Validation and verification of the industrial PHM implementation. For example, the verification of a robot's TCP accuracy after the work cell has been reconfigured, or whenever a manufacturer wants to determine if the robot arm has experienced a degradation.

For data collection, a trajectory is programmed for the Universal Robot (UR5) approaching and stopping at randomly-selected locations in its workspace. The robot moves along this preprogrammed trajectory during different conditions of temperature, payload, and speed. The TCP (x,y,z) of the robot are measured by a 7-D measurement system developed at NIST. Differences are calculated between the measured positions from the 7-D measurement system and the nominal positions calculated by the nominal robot kinematic parameters. The results are recorded within the dataset. Controller level sensing data are also collected from each joint (direct output from the controller of the UR5), to understand the influences of position degradation from temperature, payload, and speed. Controller-level data can be used for the root cause analysis of the robot performance degradation, by providing joint positions, velocities, currents, accelerations, torques, and temperatures. For example, the cold-start temperatures of the six joints were approximately 25 degrees Celsius. After two hours of operation, the joint temperatures increased to approximately 35 degrees Celsius. Control variables are listed in the header file in the data set (UR5TestResult_header.xlsx).

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Access & Use Information

Public: This dataset is intended for public access and use. License: See this page for license information.

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Metadata Created Date October 18, 2019
Metadata Updated Date December 5, 2019

Metadata Source

Harvested from Commerce Non Spatial Data.json Harvest Source

Additional Metadata

Resource Type Dataset
Metadata Created Date October 18, 2019
Metadata Updated Date December 5, 2019
Publisher National Institute of Standards and Technology
Unique Identifier 754A77D9DA1E771AE0532457068179851962
Helen Qiao
Maintainer Email
Public Access Level public
Bureau Code 006:55
Metadata Context
Schema Version
Catalog Describedby
Harvest Object Id 9321f7bf-9945-418c-aef3-f802c6c3b6be
Harvest Source Id 0836a94a-b3c8-4190-a145-bddc06458b2c
Harvest Source Title Commerce Non Spatial Data.json Harvest Source
Data First Published 2019-09-23
Homepage URL
Language en
Data Last Modified 2018-09-07 00:00:00
Program Code 006:045
Related Documents
Source Datajson Identifier True
Source Hash 0e5203dce4d3af5bc428e7c79bdaaae2184f1e32
Source Schema Version 1.1
Category Manufacturing:Robotics in manufacturing

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