Testbench Description for the KUKA KR210-2 Industrial Robot

Version 1.0

Dzubba, Marcel, 2026, "Testbench Description for the KUKA KR210-2 Industrial Robot", https://doi.org/10.18419/DARUS-5917, DaRUS, V1

Learn about Data Citation Standards.

Contact Owner

Dataset Metrics

2 Downloads

Description	Testbench description of the KUKA KR210-2 industrial robot with secondary encoders and an open control platform, used in multiple publications. The purpose of this dataset is to show the specifications of the testbench for the transferability of the published methods to other comparable industrial robots. Also, this dataset might show technical changes of the testbench to illustrate its history. The kinematic body of the robot is a KUKA KR210-2 (see also Datasheet: datasheets_kr210.txt or Step-file: KR210.STEP). Drivetrain data (including motors, gearboxes, secondary encoders , and control specifications) can be found in Components_parameters.html. An overview of the control architecture is sketched in kr210_control_architecture.png. As calibration is one area of research conducted on this testbench, KR210_LT.png shows the FARO Vantage E6 laser tracker, which is used to measure calibration poses of the robot .
Subject	Engineering
Keyword	Industrial Robot
Related Publication	Is Supplement To: Dzubba, Marcel; Neubauer, Michael; Hinze, Christoph; Lechler, Armin; Verl, Alexander (2025). A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots. IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 16168-16184.doi: 10.1109/TASE.2025.3559673
License/Data Use Agreement	CC BY 4.0

Filter by

	1 to 5 of 5 Files	Download
	Components_parameters.html HTML - 4.3 KB Published Oct 16, 2026 0 Downloads MD5: 4dd78d5932b0ed2cf4acf6b0a16352f6 Components and parameters	Preview "Components_parameters.html" Access File File Access Public Download Options HTML Download Metadata Data File Citation Download EndNote XML Download RIS Download BibTeX
	datasheets_kr210.txt Plain Text - 184 B Published Oct 16, 2026 0 Downloads MD5: 1c8c88430d18f60566eee9e5395f9942 Permanent links to datasheets	Preview "datasheets_kr210.txt" Access File File Access Public Download Options Plain Text Download Metadata Data File Citation Download EndNote XML Download RIS Download BibTeX
	KR210.STEP Unknown - 10.4 MB Published Oct 16, 2026 0 Downloads MD5: 4acae09d3aa21139c84813ff054d0459 STEP file of the robot	Access File File Access Public Download Options Original File Format Download Metadata Data File Citation Download EndNote XML Download RIS Download BibTeX
	kr210_control_architecture PNG Image - 41.9 KB Published Oct 16, 2026 0 Downloads MD5: 31da49e08ef116548476747bbb5b8499 scetch of the control architecture	Preview "kr210_control_architecture" Access File File Access Public Download Options PNG Image Download Metadata Data File Citation Download EndNote XML Download RIS Download BibTeX
	KR210_LT.png PNG Image - 4.2 MB Published Oct 16, 2026 2 Downloads MD5: 510e1b16239d79514cb397e05cbdc4a4 KR210 and Faro Vantage E6 Lasertracker	Preview "KR210_LT.png" Access File File Access Public Download Options PNG Image Download Metadata Data File Citation Download EndNote XML Download RIS Download BibTeX

Citation Metadata

Persistent Identifier	doi:10.18419/DARUS-5917
Publication Date	2026-10-16
Title	Testbench Description for the KUKA KR210-2 Industrial Robot
Author	https://ror.org/04vnq7t77https://orcid.org/0009-0008-2054-6365
Point of Contact	Use email button above to contact. Dzubba, MarcelUniversity of Stuttgart ISW DaRUS AdminUniversity of Stuttgart
Description	Testbench description of the KUKA KR210-2 industrial robot with secondary encoders and an open control platform, used in multiple publications. The purpose of this dataset is to show the specifications of the testbench for the transferability of the published methods to other comparable industrial robots. Also, this dataset might show technical changes of the testbench to illustrate its history. The kinematic body of the robot is a KUKA KR210-2 (see also Datasheet: datasheets_kr210.txt or Step-file: KR210.STEP). Drivetrain data (including motors, gearboxes, secondary encoders , and control specifications) can be found in Components_parameters.html. An overview of the control architecture is sketched in kr210_control_architecture.png. As calibration is one area of research conducted on this testbench, KR210_LT.png shows the FARO Vantage E6 laser tracker, which is used to measure calibration poses of the robot .
Subject	Engineering
Keyword	Industrial Robot http://www.wikidata.org/entity/Q1128980 (Wikidata)
Topic Classification	Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics (DFGFO) https://w3id.org/dfgfo/2024/441-01
Related Publication	Is Supplement To: Dzubba, Marcel; Neubauer, Michael; Hinze, Christoph; Lechler, Armin; Verl, Alexander (2025). A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots. IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 16168-16184. doi 10.1109/TASE.2025.3559673 https://doi.org/10.1109/TASE.2025.3559673 Is Supplement To: Mesmer, Patrick; Hinze, Christoph; Lechler, Armin; Verl, Alexander (2022). Gain-Scheduled Drive-based Damping Control for Industrial Robots. 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Sapporo, Japan, pp. 1706-1713. doi 10.1109/AIM52237.2022.9863417 https://doi.org/10.1109/AIM52237.2022.9863417 Is Supplement To: Mesmer, Patrick; Nagel, Patrick; Lechler, Armin; Verl, Alexander (2022). Modeling and Identification of Hysteresis in Robot Joints with Cycloidal Drives. 2022 IEEE 17th International Conference on Advanced Motion Control (AMC), Padova, Italy, pp. 358-363. doi 10.1109/AMC51637.2022.9729274 https://doi.org/10.1109/AMC51637.2022.9729274 Is Supplement To: Mesmer, Patrick (2023). Antriebsbasierte Schwingungsdämpfung von Industrierobotern mit gelenkseitiger Positionsmessung. PhD Thesis Universität Stuttgart. Fraunhofer Verlag. doi 10.18419/opus-14295 https://doi.org/10.18419/opus-14295 Is Supplement To: Mesmer, Patrick; Neubauer, Michael; Lechler, Armin; Verl, Alexander (2022). Robust design of independent joint control of industrial robots with secondary encoders. Robotics and Computer-Integrated Manufacturing, vol. 73, no. 102232. doi 10.1016/j.rcim.2021.102232 https://doi.org/10.1016/j.rcim.2021.102232 Is Supplement To: Dzubba, Marcel; Neubauer, Michael; Ajdinovic, Samed; Lechler, Armin; Verl, Alexander (2025). Simple Estimation Algorithm for Laser Tracker Localization in Industrial Robot Calibration. European Robotics Forum 2025 (Springer), pp. 193-199. doi 10.1007/978-3-031-89471-8_30 https://doi.org/10.1007/978-3-031-89471-8_30 Is Supplement To: Neubauer, Michael; Hinze, Christoph; Verl, Alexander (2025). Semi-active damping for industrial robots. Robotics and Computer-Integrated Manufacturing, vol. 95, no. 103008. doi 10.1016/j.rcim.2025.103008 https://doi.org/10.1016/j.rcim.2025.103008 Is Supplement To: Neubauer, Michael (2025). Verbesserung der dynamischen Bahngenauigkeit kaskadiert geregelter Knickarmroboter durch semiaktive Gelenkdämpfung. PhD Thesis, Universität Stuttgart. Fraunhofer Verlag. doi 10.18419/opus-15697 https://doi.org/10.18419/opus-15697 Is Cited By: Marcel Dzubba, Matthias Marquart, Samed Ajdinović, Jana Löhle, Armin Lechler, and Alexander Verl (2026). Identification of Pose-Dependent Compliance in Industrial Robots under Variable Static Loads (2026, in press).
Depositor	Dzubba, Marcel
Deposit Date	2026-04-16
Software	IndraWorks (Control of Drives), Version: IndraWorks Ds 14V20 P2 PNOZmulit (Safety SPS), Version: v10.8.0 build 2 tenAsys Intime

Dataset Terms

License/Data Use Agreement

Our Community Norms as well as good scientific practices expect that proper credit is given via citation. Please use the data citation shown on the dataset page.

Creative Commons Attribution 4.0 International License. CC BY 4.0

Dataset Version	Summary	Version Note	Edited by	Published on
No records found.

Edit File

This file has already been deleted (or replaced) in the current version. It may not be edited.

Restrict Access

Restricting limits access to published files. People who want to use the restricted files can request access by default. If you disable request access, you must add information about access to the Terms of Access field.

Learn about restricting files and dataset access in the User Guide.

Request Access

Enable access request

You must enable request access or add terms of access to restrict file access.

Terms of Access for Restricted Files

Save Changes

Edit Embargo

The selected file or files have already been published. Contact an administrator to change the embargo date or reason of the file or files.

Edit Retention Period

The selected file or files have already been published. Contact an administrator to change the retention period date or reason of the file or files.

Delete Files

The file will be deleted after you click on the Delete button.

Files will not be removed from previously published versions of the dataset.

Select File(s)

Please select one or more files.

Share Dataset

Share this dataset on your favorite social media networks.

Continue

Dataset Citations

Citations for this dataset are retrieved from Crossref via DataCite using Make Data Count standards. For more information about dataset metrics, please refer to the User Guide.

Sorry, no citations were found.

Inaccessible Files Selected

The selected file(s) may not be downloaded because you have not been granted access or the file(s) have a retention period that has expired or the files can only be transferred via Globus.

You may request access to any restricted file(s) by clicking the Request Access button.

Ineligible Files Selected

The selected file(s) may not be transferred because you have not been granted access or the file(s) have a retention period that has expired or the files are not Globus accessible.

You may request access to any restricted file(s) by clicking the Request Access button.

Download Options

The files selected are too large to download as a ZIP.

You can select individual files that are below the 1.9 GB download limit from the files table, or use the Data Access API for programmatic access to the files.

Select File(s)

Please select a file or files to be downloaded.

Inaccessible Files Selected

The selected file(s) may not be downloaded because you have not been granted access or the file(s) have a retention period that has expired.

Click Continue to download the files you have access to download.

Ineligible Files Selected

Some file(s) cannot be transferred. (They are restricted, embargoed, with an expired retention period, or not Globus accessible.)

Click Continue to transfer the elligible files.

Delete Dataset

Are you sure you want to delete this dataset and all of its files? You cannot undelete this dataset.

Delete Draft Version

Are you sure you want to delete this draft version? Files will be reverted to the most recently published version. You cannot undelete this draft.

Unpublished Dataset Preview URL

Preview URL can only be used with unpublished versions of datasets.

Unpublished Dataset Preview URL

Are you sure you want to disable the Preview URL? If you have shared the Preview URL with others they will no longer be able to use it to access your unpublished dataset.

Delete Files

The file(s) will be deleted after you click on the Delete button.

Files will not be removed from previously published versions of the dataset.

Compute

This dataset contains restricted files you may not compute on because you have not been granted access.

Deaccession Dataset

Are you sure you want to deaccession? This is permanent and the selected version(s) will no longer be viewable by the public.

Deaccession Dataset

Are you sure you want to deaccession this dataset? This is permanent, and it will no longer be viewable by the public.

Version Differences Details

Please select two versions to view the differences.

Version Differences Details

Version:
Last Updated:

Version Note:

Version:
Last Updated:

Version Note:

Select File(s)

Please select a file or files for access request.

Select File(s)

Embargoed files cannot be accessed. Please select an unembargoed file or files for your access request.

Edit Tags

Select existing file tags or create new tags to describe your files. Each file can have more than one tag.

Request Access

You need to Log In to request access.

Dataset Terms

Please confirm and/or complete the information needed below in order to request access to files in this dataset.

This dataset is made available under the following terms. Please confirm and/or complete the information needed below in order to continue.

License/Data Use Agreement

Our Community Norms as well as good scientific practices expect that proper credit is given via citation. Please use the data citation shown on the dataset page.

Creative Commons Attribution 4.0 International License. CC BY 4.0

Preview Guestbook

Upon downloading files the guestbook asks for the following information.

Guestbook Name

Collected Data

Account Information

Package File Download

Use the Download URL in a Wget command or a download manager to download this package file. Download via web browser is not recommended. User Guide - Downloading a Dataverse Package via URL

Download URL

https://darus.uni-stuttgart.de/api/access/datafile/

Compute Batch

Clear Batch

Dataset	Persistent Identifier	Change Compute Batch

Compute Batch

Submit for Review

Please use the publication checklist for authors ( https://www.izus.uni-stuttgart.de/en/fokus/darus/publication/ ) to ensure publication readiness. You will not be able to make changes to this dataset while it is in review.

Please be advised that by clicking on Submit for Review a notification will be sent to your institution's local curator. The DaRUS team will NOT be notified unless the local curator or anyone with publishing rights starts the Publication workflow

Publish Dataset

Are you sure you want to republish this dataset?

Select if this is a minor or major version update.

Minor Release (1.1)

Major Release (2.0)

Version Note

Publish Dataset

This dataset cannot be published until 2026_TB_KR210 is published by its administrator.

Publish Dataset

This dataset cannot be published until 2026_TB_KR210 and ISW Data Repository are published.

Return to Author

Return this dataset to contributor for modification. The reason for return entered below will be sent by email to the author.

Curation Status History

Status	Date	Assigner
	2026-10-16 10:24:18	Marcel Dzubba
In Review by FoKUS	2026-10-16 10:19:44	Florian Fritze
Waiting for Feedback from Author	2026-10-16 08:22:14	Florian Fritze
In Review by FoKUS	2026-10-15 11:35:39	Dataverse Admin

Add/Edit a Version Note

Enter the reason this version was created. To learn more about Version Notes, visit the Version Notes section of the User Guide.

Version Note

Styled Citation