High-Frequency Sensor Signals from a One-Year Long Accelerated Wear Test of a KUKA KR16 Industrial Robotic Arm
The data within this dataset was generated by a KUKA KR16 L6 robot being monitored during an accelerated wear test (AWT) at the Advanced Manufacturing Research Centre's (AMRC's) Integrated Manufacturing Group (IMG) to help develop methods of wear and fault/anomaly detection. This includes data from retrofitted accelerometers, current transducers and RTD temperature sensors, stored in .zip files of MATLAB structures.
The AWT consisted of joint 3 of the robot rotated in isolation back and forth at 100% speed and acceleration 24/7 for 13 months with maximum payload on the end effector and the supplementary payload. During the AWT, the robot suffered from a naturally occurring oil leak and a controlled set of crashes.
Please see the 'README.txt' file for further information on the dataset, and the 'Fingerprint routine.mp4' file for an illustration of the routine undertaken by the robot.
The work behind creating this dataset was presented at the IEEE CASE 2024 conference, Bari, Italy:
J. Moore and D. Sawyer, "Equipment Health Monitoring for Industrial Robotic Arms," 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), Bari, Italy, 2024, pp. 1853-1860, doi: 10.1109/CASE59546.2024.10711629.
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