{"dcterms:modified":"2023-12-08","dcterms:creator":"DaRUS","@type":"ore:ResourceMap","@id":"https://nfldevdataverse2.rus.uni-stuttgart.de/api/datasets/export?exporter=OAI_ORE&persistentId=https://doi.org/10.18419/darus-2126","ore:describes":{"engMetaMeasuredVar":[{"engMetaMeasuredVarName":"delta_z1","engMetaMeasuredVarUnit":"mm"},{"engMetaMeasuredVarName":"delta_z2","engMetaMeasuredVarUnit":"mm"},{"engMetaMeasuredVarName":"delta_z3","engMetaMeasuredVarUnit":"mm"},{"engMetaMeasuredVarName":"s1_len","engMetaMeasuredVarUnit":"mm"},{"engMetaMeasuredVarName":"s2_len","engMetaMeasuredVarUnit":"mm"},{"engMetaMeasuredVarName":"s1_len_estimation","engMetaMeasuredVarUnit":"mm"},{"engMetaMeasuredVarName":"s2_len_estimation","engMetaMeasuredVarUnit":"mm"}],"EngMeta:engMetaControlledVar":[{"EngMeta:engMetaControlledVarName":"Angle","engMetaControlledVarUnit":"rad"},{"EngMeta:engMetaControlledVarName":"delta_s","engMetaControlledVarUnit":"mm"},{"EngMeta:engMetaControlledVarName":"delta_e","engMetaControlledVarUnit":"mm"},{"EngMeta:engMetaControlledVarName":"is_symmetic","engMetaControlledVarUnit":"bool"},{"EngMeta:engMetaControlledVarName":"is_looping","engMetaControlledVarUnit":"bool"},{"EngMeta:engMetaControlledVarName":"s1_type","engMetaControlledVarUnit":"enum (1,2,3)"},{"EngMeta:engMetaControlledVarName":"s2_type","engMetaControlledVarUnit":"enum (1,2,3)"}],"citation:project":[{"citation:projectName":"EXC IntCDC","citation:projectLevel":"0"},{"citation:projectName":"Research Project 4","citation:projectLevel":"1"}],"citation:producer":{"citation:producerName":"Kaiser, Benjamin"},"citation:datasetContact":[{"citation:datasetContactName":"Lechler, Armin","citation:datasetContactAffiliation":"Universität Stuttgart"},{"citation:datasetContactName":"Kaiser, Benjamin","citation:datasetContactAffiliation":"Universität Stuttgart"}],"citation:keyword":[{"citation:keywordValue":"Corner Smoothing"},{"citation:keywordValue":"Curvature","citation:keywordVocabulary":"Wikidata","citation:keywordVocabularyURI":"https://www.wikidata.org/wiki/Q214881"},{"citation:keywordValue":"Polynom Spline"}],"grantNumber":{"citation:grantNumberAgency":"DFG","citation:grantNumberValue":"EXC 2120/1 - 390831618"},"software":{"citation:softwareName":"MATLAB","citation:softwareVersion":"R2021a"},"publication":{"publicationCitation":"B. Kaiser and A. Verl, \"Planning of Curvature-Optimal Smooth Paths for Industrial Robots Using Neural Networks,\" 2021 Fourth International Conference on Artificial Intelligence for Industries (AI4I), 2021"},"citation:dsDescription":{"citation:dsDescriptionValue":"This dataset contains curvature-optimal geometry parameters for linear-linear transitions for polynomial smoothing with polynomial splines 4th order.\n\nThe data was generated by offline solving the optimization problem of curvature-optimal geometry parameters for corner smoothing, which is described in the related publication. Dataset_linlin.tab contains optimal geometry parameters for linear-linear transitions. Dataset_lincirc.tab contains the optimal geometry parameters for linear-circular transitions.\n\nThese datasets were used to train the neural networks as described in the corresponding publication. \n\ncartesian_trajectory_non_smooth.tab contains the non-smoothed example trajectory from the corresponding publication. The orientations are RPY (xyz) Euler angles. The velocity is planned to keep the jerk limits.\n\ncartesian_trajectory_smooth.tab contains the smoothed example trajectory from the corresponding publication. The orientations of the trajectory are RPY (xyz) Euler angles. The trajectory was planned using the neural network to determine the optimal geometry parameters. The velocity is planned to keep the jerk limits. \n\ncartesian_trajectory_fs.tab contains the non-smoothed example trajectory from the corresponding publication. The orientations are RPY (xyz) Euler angles. The velocity profile of the trajectory ignores the jerk boundaries. \n\ntrajectory_non_smooth, trajectory_smooth and trajectory_fs are the corresponding trajectories in the jointspace. These were planned for the Kuka KR500 R3330 with the end effector from the corresponding publication.","citation:dsDescriptionDate":"2021-06-15"},"author":{"citation:authorName":"Kaiser, Benjamin","citation:authorAffiliation":"Universität Stuttgart","authorIdentifierScheme":"ORCID","authorIdentifier":"https://orcid.org/ 0000-0002-2011-6161"},"citation:depositor":"Kaiser, Benjamin","citation:subtitle":"Optimal Geometry Parameters for Polynomial Corner Smoothing","dateOfDeposit":"2021-09-07","citation:productionDate":"2021-06-15","subject":"Engineering","title":"Replication data for: Planning of Curvature-Optimal Smooth Paths for Industrial Robots Using Neural Networks","@id":"https://doi.org/10.18419/darus-2126","@type":["ore:Aggregation","schema:Dataset"],"schema:version":"1.0","schema:name":"Replication data for: Planning of Curvature-Optimal Smooth Paths for Industrial Robots Using Neural Networks","schema:dateModified":"Fri Sep 01 19:52:11 CEST 2023","schema:datePublished":"2021-09-14","schema:license":"http://creativecommons.org/licenses/by/4.0","dvcore:fileTermsOfAccess":{"dvcore:fileRequestAccess":false},"schema:includedInDataCatalog":"DaRUS","schema:isPartOf":{"schema:name":"isw_kar_ puplication","@id":"https://nfldevdataverse2.rus.uni-stuttgart.de/dataverse/isw_kar_puplication","schema:description":"Dataverse containing publication data","schema:isPartOf":{"schema:name":"kar","@id":"https://nfldevdataverse2.rus.uni-stuttgart.de/dataverse/isw_kar","schema:isPartOf":{"schema:name":"ISW Publications","@id":"https://nfldevdataverse2.rus.uni-stuttgart.de/dataverse/isw_publications","schema:isPartOf":{"schema:name":"Institute for Control Engineering of Machine Tools and Manufacturing Units","@id":"https://nfldevdataverse2.rus.uni-stuttgart.de/dataverse/isw","schema:isPartOf":{"schema:name":"DaRUS","@id":"https://nfldevdataverse2.rus.uni-stuttgart.de/dataverse/darus","schema:description":"This is the data Repository of the University of Stuttgart."}}}}},"ore:aggregates":[{"schema:name":"cartesian_trajectory_fs.csv","dvcore:restricted":false,"schema:version":3,"dvcore:datasetVersionId":2322,"@id":"doi:10.18419/darus-2126/4","schema:sameAs":"https://nfldevdataverse2.rus.uni-stuttgart.de/api/access/datafile/:persistentId?persistentId=doi:10.18419/darus-2126/4&format=original","@type":"ore:AggregatedResource","schema:fileFormat":"text/csv","dvcore:filesize":182648,"dvcore:storageIdentifier":"s3://fokus-dv-prod-1:17bc06c2152-7ef589e641d0","dvcore:currentIngestedName":"cartesian_trajectory_fs.tab","dvcore:UNF":"UNF:6:BBlGUuU5jyWJnJOd20wJ2g==","dvcore:rootDataFileId":-1,"dvcore:checksum":{"@type":"MD5","@value":"dbbac37f6c3bad1a82bc613216aa41d1"}},{"schema:name":"cartesian_trajectory_non_smooth.csv","dvcore:restricted":false,"schema:version":3,"dvcore:datasetVersionId":2322,"@id":"doi:10.18419/darus-2126/5","schema:sameAs":"https://nfldevdataverse2.rus.uni-stuttgart.de/api/access/datafile/:persistentId?persistentId=doi:10.18419/darus-2126/5&format=original","@type":"ore:AggregatedResource","schema:fileFormat":"text/csv","dvcore:filesize":188254,"dvcore:storageIdentifier":"s3://fokus-dv-prod-1:17bc06c21d1-018224a15658","dvcore:currentIngestedName":"cartesian_trajectory_non_smooth.tab","dvcore:UNF":"UNF:6:3k268QRlt6+V7Ncn2DGJxQ==","dvcore:rootDataFileId":-1,"dvcore:checksum":{"@type":"MD5","@value":"a0563fa92e890f98b5f5d82230f7e925"}},{"schema:name":"cartesian_trajectory_smooth.csv","dvcore:restricted":false,"schema:version":3,"dvcore:datasetVersionId":2322,"@id":"doi:10.18419/darus-2126/2","schema:sameAs":"https://nfldevdataverse2.rus.uni-stuttgart.de/api/access/datafile/:persistentId?persistentId=doi:10.18419/darus-2126/2&format=original","@type":"ore:AggregatedResource","schema:fileFormat":"text/csv","dvcore:filesize":180408,"dvcore:storageIdentifier":"s3://fokus-dv-prod-1:17bc06c20d4-e732f7a0446f","dvcore:currentIngestedName":"cartesian_trajectory_smooth.tab","dvcore:UNF":"UNF:6:YrQA6fMykIIU96dK6h1Zuw==","dvcore:rootDataFileId":-1,"dvcore:checksum":{"@type":"MD5","@value":"92b7599f5d0fed09805ce8a6f5f8a7fc"}},{"schema:name":"Dataset_lincirc.csv","dvcore:restricted":false,"schema:version":3,"dvcore:datasetVersionId":2322,"@id":"doi:10.18419/darus-2126/8","schema:sameAs":"https://nfldevdataverse2.rus.uni-stuttgart.de/api/access/datafile/:persistentId?persistentId=doi:10.18419/darus-2126/8&format=original","@type":"ore:AggregatedResource","schema:fileFormat":"text/csv","dvcore:filesize":18588364,"dvcore:storageIdentifier":"s3://fokus-dv-prod-1:17bc070571a-031fb72b582a","dvcore:currentIngestedName":"Dataset_lincirc.tab","dvcore:UNF":"UNF:6:DDP2D+VUmiEPhglt9myUFw==","dvcore:rootDataFileId":-1,"dvcore:checksum":{"@type":"MD5","@value":"5cad48a40b4286c2dc5f1f2e0fc2dd2c"}},{"schema:description":"Data set with curvature optimized geometry parameters for linear-linear transitions for polynomial smoothing with 4th order polynomial splines.","schema:name":"Dataset_linlin.csv","dvcore:restricted":false,"schema:version":3,"dvcore:datasetVersionId":2322,"@id":"doi:10.18419/darus-2126/1","schema:sameAs":"https://nfldevdataverse2.rus.uni-stuttgart.de/api/access/datafile/:persistentId?persistentId=doi:10.18419/darus-2126/1&format=original","@type":"ore:AggregatedResource","schema:fileFormat":"text/csv","dvcore:filesize":15513395,"dvcore:storageIdentifier":"s3://fokus-dv-prod-1:17bbf5fdbe3-d6ab3625ba85","dvcore:currentIngestedName":"Dataset_linlin.tab","dvcore:UNF":"UNF:6:xqTQ0GNSmewznqJdHQkpOg==","dvcore:rootDataFileId":-1,"dvcore:checksum":{"@type":"MD5","@value":"4aa19bab6ebae2e3089fcb0550abd27a"}},{"schema:name":"trajectory_fs.csv","dvcore:restricted":false,"schema:version":3,"dvcore:datasetVersionId":2322,"@id":"doi:10.18419/darus-2126/3","schema:sameAs":"https://nfldevdataverse2.rus.uni-stuttgart.de/api/access/datafile/:persistentId?persistentId=doi:10.18419/darus-2126/3&format=original","@type":"ore:AggregatedResource","schema:fileFormat":"text/csv","dvcore:filesize":373083,"dvcore:storageIdentifier":"s3://fokus-dv-prod-1:17bc06bf648-360f8d1f70cd","dvcore:currentIngestedName":"trajectory_fs.tab","dvcore:UNF":"UNF:6:kGNUeLPy6hKjio5kVCaDXw==","dvcore:rootDataFileId":-1,"dvcore:checksum":{"@type":"MD5","@value":"384a7db25fc92edf14e757d39f223073"}},{"schema:name":"trajectory_non_smooth.csv","dvcore:restricted":false,"schema:version":3,"dvcore:datasetVersionId":2322,"@id":"doi:10.18419/darus-2126/6","schema:sameAs":"https://nfldevdataverse2.rus.uni-stuttgart.de/api/access/datafile/:persistentId?persistentId=doi:10.18419/darus-2126/6&format=original","@type":"ore:AggregatedResource","schema:fileFormat":"text/csv","dvcore:filesize":385526,"dvcore:storageIdentifier":"s3://fokus-dv-prod-1:17bc06bf6e9-60714f43542c","dvcore:currentIngestedName":"trajectory_non_smooth.tab","dvcore:UNF":"UNF:6:LpJ2cJhZDfcE+CTFQ/avfA==","dvcore:rootDataFileId":-1,"dvcore:checksum":{"@type":"MD5","@value":"f4732960e09aeafcae62b7ee85615040"}},{"schema:name":"trajectory_smooth.csv","dvcore:restricted":false,"schema:version":3,"dvcore:datasetVersionId":2322,"@id":"doi:10.18419/darus-2126/7","schema:sameAs":"https://nfldevdataverse2.rus.uni-stuttgart.de/api/access/datafile/:persistentId?persistentId=doi:10.18419/darus-2126/7&format=original","@type":"ore:AggregatedResource","schema:fileFormat":"text/csv","dvcore:filesize":353138,"dvcore:storageIdentifier":"s3://fokus-dv-prod-1:17bc06e24a6-b6fd6a23e4a6","dvcore:currentIngestedName":"trajectory_smooth.tab","dvcore:UNF":"UNF:6:2JIQ5nv1X4RHGILyQF5Mwg==","dvcore:rootDataFileId":-1,"dvcore:checksum":{"@type":"MD5","@value":"7393dd62bfa0eecb7d623523aa0df947"}}],"schema:hasPart":["doi:10.18419/darus-2126/4","doi:10.18419/darus-2126/5","doi:10.18419/darus-2126/2","doi:10.18419/darus-2126/8","doi:10.18419/darus-2126/1","doi:10.18419/darus-2126/3","doi:10.18419/darus-2126/6","doi:10.18419/darus-2126/7"]},"@context":{"EngMeta":"https://nfldevdataverse2.rus.uni-stuttgart.de/schema/EngMeta#","author":"http://purl.org/dc/terms/creator","authorIdentifier":"http://purl.org/spar/datacite/AgentIdentifier","authorIdentifierScheme":"http://purl.org/spar/datacite/AgentIdentifierScheme","citation":"https://dataverse.org/schema/citation/","dateOfDeposit":"http://purl.org/dc/terms/dateSubmitted","dcterms":"http://purl.org/dc/terms/","dvcore":"https://dataverse.org/schema/core#","engMetaControlledVarUnit":"https://schema.org/unitCode","engMetaMeasuredVar":"https://schema.org/variableMeasured","engMetaMeasuredVarName":"https://schema.org/name","engMetaMeasuredVarUnit":"https://schema.org/unitCode","grantNumber":"https://schema.org/sponsor","ore":"http://www.openarchives.org/ore/terms/","publication":"http://purl.org/dc/terms/isReferencedBy","publicationCitation":"http://purl.org/dc/terms/bibliographicCitation","schema":"http://schema.org/","software":"https://www.w3.org/TR/prov-o/#wasGeneratedBy","subject":"http://purl.org/dc/terms/subject","title":"http://purl.org/dc/terms/title"}}