Dataset from Zenodo · Barros, Gustavo
RMPD: Robot motion and performance database
- License
- CC BY 4.0commercial use allowedLicense text
- This license allows commercial use. Usually you must credit the author; read the license for the exact terms.
- Formats
- SQL, ZIP, DUMP
- Size
- 26 GB
- Updated
- Jul 1, 2026
Description
RMPD: Robot motion and performance database G. Barros 1 , N. Appel 1 and B. Kuhlenkötter 1 (1) Chair of Production Systems, Ruhr-Universität Bochum, 44801 Bochum, Germany Contact information: [email protected] Background This dataset provides extensive motion and performance measurements from an ABB IRB 4400 industrial robot. It is intended to help researchers predict robot trajectory accuracy and analyze robot behavior using data-driven methods. Currently, the dataset features one robot platform, but future updates will add more robot models for cross-platform studies. It is developed at the Chair of Production Systems at the Ruhr-Universität Bochum. The dataset has over 30,000 recorded trajectories and more than 100,000 motion segments. Each entry includes motion data, embeddings, and performance metrics from methods like SIDTW, Euclidean distance, QDTW, and geodesic distance. These measurements show the deviations between commanded and measured TCP paths, indicating how closely the robot follows its programmed trajectory in position and orientation. All measured data was collected with a Leica AT960 laser tracker at 1000 Hz. The commanded data was…
Description from Zenodo, shortened.
Files (3)
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