Cooperative Path Completion Using a Modular Magnetically Levitated Planar Actuator and a 4-DOF Robotic Arm - Recording Dataset
Description
Raw recorded data of the mover-manipulator states during interaction of the different trajectory types: line, arc, sinusoidal (2-periods) and sinusoidal (4-periods). They are ordered by folders, with their respective run number and the local coordinates and orientation of each waypoint.
Files
Steps to reproduce
Inside each dataset: The run files contain the following data: 1) The first column corresponds to the timestamp of the recording. 2) From the 2nd to 7th column, the mover pose is recorded. Mover position is in m, while the orientation are in radians. 3) From the 8th column to the last, the robot arm joints are recorded. The joint angles are in radians. The local trajectories file contains: 1) The offset from the mover to the target (T_obj) as a singular vector, which represents the relative pose of the object in the mover frame. The position and orientation are in meters and radians. 2) The local waypoints coordinates of the discrete path, which are used in the path planner to calculate the required arm-mover commands and represent the pose of each waypoint with respect to the target/object. Each row represent a discrete waypoint, with the position and orientation in meters and radians.