Dataset of Collaborative Robots for Energy Consumption Modeling

These datasets collect sensorial information about collaborative robot functioning. We recorded information from two different kinds of robots UR3e and UR10e. This dataset is used for data-driving modeling of the power consumption of cobots. The datasets have the following information: recording time, trajectory ID, joints' positions, joints' velocities, motor currents, motor torques, motor voltages, end effector position, force and momentum exerted to the end effector, current and voltage of the robot.