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

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

doi:10.1016/j.dib.2023.109674

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

Data Brief. 2023 Oct 14:51:109674. doi: 10.1016/j.dib.2023.109674. eCollection 2023 Dec.

Authors

Gustavo Jose Giardini Lahr¹, Thiago Henrique Segreto Silva², Guilherme Ribeiro Moreira², Thiago Boaventura², Glauco Augusto de Paula Caurin², Arash Ajoudani¹

Affiliations

¹ HRI2 Lab, Italian Institute of Technology, via San Quirico 19D, 16163 Genoa, Italy.
² University of Sao Paulo, Av. Trabalhador Sao-Carlense 400, 13566-590 Sao Carlos, Brazil.

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.

Keywords: Automation; Industrial assembly; Robotics; Time series.