Automation of Train Cab Front Cleaning with a Robot Manipulator

Moura, João; McColl, Willam; Taykaldiranian, Gerard; Tomiyama, Tetsuo; Suphi Erden, Mustafa

Automation of Train Cab Front Cleaning with a Robot Manipulator

dc.contributor.author	Moura, João
dc.contributor.author	McColl, Willam
dc.contributor.author	Taykaldiranian, Gerard
dc.contributor.author	Tomiyama, Tetsuo
dc.contributor.author	Suphi Erden, Mustafa
dc.date.accessioned	2024-06-07T03:31:47Z
dc.date.available	2024-06-07T03:31:47Z
dc.date.issued	2018-08-09 09:55
dc.description.abstract	This files gives a short description of the data used to produce the plots of the paper submitted to review.Besides the data files, we are only submitting the pdf file (CASE2018.pdf) and the accompanying video (CASE2018.mp4).NB. CASE2018.pdf cannot currently be uploaded here but see related article at https://doi.org/10.1109/LRA.2018.2849591 and conference site at http://case2018.org/.The data files can be found in the data_plots folder.The files have the extension *.dat, and the data is separated by a space.Each column of the files correspond to a different measured variable and the rows correspond to the measurements over time.The files are the following:baxter_raster_large.datbaxter_raster_small.datbaxter_spiral.dattrain_raster_large.dattrain_raster_small.datWhere train refers to the experiments done with the functional prototype on the scaled front train.Baxter refers to the experiments done with the Baxter in the curved surface.Raster and spiral refer to the pattern of motion used, and large and small refer to the radius of the raster scan - distance between the parallel lines.The first line of each files indicates the measurement quantities for each column, where:The forces (fx,fy,fz) are measured in Newton.The torques (mx,my,mz) are measured in Newton meter.The positions (x,y,z) are measured in meters.The reference positions (xref,yref,zref) are measured in meters.The time is measured in seconds.
dc.description.sponsorship	RSSB, EPSRC
dc.identifier.citation	Moura, João; McColl, Willam; Taykaldiranian, Gerard; Tomiyama, Tetsuo; Erden, Mustafa Suphi (2018). Automation of Train Cab Front Cleaning with a Robot Manipulator. Cranfield Online Research Data (CORD). Dataset. https://doi.org/10.17862/cranfield.rd.6931337
dc.identifier.doi	10.17862/cranfield.rd.6931337
dc.identifier.uri	https://dspace.lib.cranfield.ac.uk/handle/1826/22060
dc.publisher	Cranfield University
dc.relation.isreferencedby	https://doi.org/10.1109/LRA.2018.2849591'
dc.rights	CC BY 4.0
dc.rights.uri	https://creativecommons.org/licenses/by/4.0/
dc.subject	'Kinematics'
dc.subject	'industrial robots'
dc.subject	'motion control'
dc.subject	'force control'
dc.subject	'Control Systems
dc.subject	Robotics and Automation'
dc.title	Automation of Train Cab Front Cleaning with a Robot Manipulator
dc.type	Dataset