High-Precision Gimbal Experimental Dataset

This dataset was published in: To be added upon publication

Overview

This dataset was created as to evaluate a custom high-precision pointing mechanism for the utilization in a future long-range obstacle detection system. The experimental system consisted of a laser pointer mounted to the gimbal, pointing at a far away plane. As the mechanism moved to new target positions, these were recorded manually on the measuring plane.

Dataset general characteristics

Sensors and actuators:

Distance laser: Leica Disto D8
Pointing laser: Picotronic DA650-1-5(11×60)
Motor package: Dynamixel XL430-W250 (Documentation)

Provided files:

measured.csv: Manual target position recordings
command.csv: Commanded motor encoder position
feedback.csv: Recorded motor state (position, velocity, current)

Motor feedback data description:

	Time	Position	Velocity	Load
Type	number	tuple	tuple	tuple
Content	timestamp	position x & y	velocity x & y	load x & y
Unit	seconds	encoder steps	0.229 [rev/min]	0.1 [%]

Motor command data description:

	Time	Position	ID
Type	number	tuple	number
Content	timestamp	position x & y	position ID
Unit	seconds	encoder steps

Manual recording data description:

	ID	Position x	Position y
Type	number	number	number
Content	position ID	position x	position y
Unit		2.5[cm]	2.5[cm]

Download

The dataset can be downloaded here.

Permissions

You are hereby given permission to copy this data in electronic or hard-copy form for your own scientific use and to distribute it for use to colleagues within your research group. Inclusion of rendered images or video made from this data in a scholarly publication (printed or electronic) is also permitted.

Contact

For more information, don't hesitate to contact Cornelius von Einem