Degradation Measurement of Robot Arm Position Accuracy

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).

If you'd like to comment on this data and/or offer recommendations on future datasets, please email guixiu.qiao@nist.gov.

Data e Risorse

Campo Valore
accessLevel public
bureauCode {006:55}
catalog_@context https://project-open-data.cio.gov/v1.1/schema/data.json
catalog_conformsTo https://project-open-data.cio.gov/v1.1/schema
catalog_describedBy https://project-open-data.cio.gov/v1.1/schema/catalog.json
identifier 754A77D9DA1E771AE0532457068179851962
issued 2019-09-23
landingPage https://www.nist.gov/el/intelligent-systems-division-73500/degradation-measurement-robot-arm-position-accuracy
language {en}
license https://www.nist.gov/open/license
modified 2018-09-07 00:00:00
programCode {006:045}
publisher National Institute of Standards and Technology
references {https://doi.org/10.1016/j.jmsy.2018.04.004}
resource-type Dataset
source_datajson_identifier true
source_hash 843245215a87fce05253832eb8c12c53cb88ae06
source_schema_version 1.1
theme {"Manufacturing:Robotics in manufacturing"}
Gruppi
  • AmeriGEOSS
  • National Provider
  • North America
Tag
  • accuracy-degradation
  • amerigeo
  • amerigeoss
  • ckan
  • geo
  • geoss
  • manufacturing
  • national
  • north-america
  • phm
  • robotics-in-manufacturing
  • sensing-and-perception
  • united-states
isopen False
license_id other-license-specified
license_title other-license-specified
maintainer Helen Qiao
maintainer_email guixiu.qiao@nist.gov
metadata_created 2025-11-20T02:35:24.504785
metadata_modified 2025-11-20T02:35:24.504789
notes 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). If you'd like to comment on this data and/or offer recommendations on future datasets, please email guixiu.qiao@nist.gov.
num_resources 1
num_tags 13
title Degradation Measurement of Robot Arm Position Accuracy