Automation of Train Cab Front Cleaning with a Robot Manipulator

<p>This files gives a short description of the data used to produce the plots of the paper submitted to review.</p><p><br></p><p>Besides the data files, we are only submitting the pdf file (CASE2018.pdf) and the accompanying video (CASE2018.mp4).</p><p><br></p><p>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/.<br></p><p><br></p><p>The data files can be found in the data_plots folder.</p><p>The files have the extension *.dat, and the data is separated by a space.</p><p>Each column of the files correspond to a different measured variable and the rows correspond to the measurements over time.</p><p><br></p><p>The files are the following:</p><p><br></p><p>baxter_raster_large.dat</p><p>baxter_raster_small.dat</p><p>baxter_spiral.dat</p><p>train_raster_large.dat</p><p>train_raster_small.dat</p><p><br></p><p>Where train refers to the experiments done with the functional prototype on the scaled front train.</p><p>Baxter refers to the experiments done with the Baxter in the curved surface.</p><p>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.</p><p><br></p><p>The first line of each files indicates the measurement quantities for each column, where:</p><p><br></p><p>The forces (fx,fy,fz) are measured in Newton.</p><p>The torques (mx,my,mz) are measured in Newton meter.</p><p>The positions (x,y,z) are measured in meters.</p><p>The reference positions (xref,yref,zref) are measured in meters.</p><p>The time is measured in seconds.</p><div><br></div>