Kinematic and dynamic data from a robotic assembly of aeronautical threaded fasteners

Author(s)

Lahr, Gustavo Jose Giardini ; Silva, Thiago Henrique Segreto ; Moreira, Guilherme Ribeiro ; Boaventura, Thiago ; Caurin, Glauco Augusto de Paula ; Ajoudani, Arash

• Document type: Journal article
• Source: DATA IN BRIEF; v. 51, p. 6-pg., 2023-10-25.

Abstract

Industrial screwing is one of several industry branches' most common manufacturing processes. Good quality and structured data from these operations have increased demand with the popularization of data-driven techniques for manufacturing automation. The dataset presented in this paper comprises screwing experiments with aeronautical nuts performed by an industrial robot Kuka KR-16 in a lab setting. The data comprises force, torque, linear and angular displacements, and velocities in time-series format. The dataset contains three different experiment results: mounted, jammed, and not mounted, which can be used as labels for classification techniques. (c) 2023 The Author(s). Published by Elsevier Inc. This is an open access article under the CC BY license ( http://creativecommons.org/licenses/by/4.0/ ) (AU)

• FAPESP's process: 13/07276-1 - CEPOF - Optics and Photonic Research Center
• Grantee: Vanderlei Salvador Bagnato
• Support Opportunities: Research Grants - Research, Innovation and Dissemination Centers - RIDC
• FAPESP's process: 17/01555-7 - Robots and neuronavigation applied to neurosurgery
• Grantee: Glauco Augusto de Paula Caurin
• Support Opportunities: Regular Research Grants
• FAPESP's process: 18/15472-9 - Hydraulic actuation impedance control for robots with legs and arms
• Grantee: Thiago Boaventura Cunha
• Support Opportunities: Research Grants - Young Investigators Grants