The robotic wrist demonstrator represents a mechanical wrist with three axes that can hold tools, e.g. for spray painting in combination with a pump. On this robotic wrist, two accelerometers are mounted for vibration monitoring and recording: one in the movable front part of the wrist and one in the shaft. The wrist can be controlled through the torque or the designated position of each axis’ motor.

The dataset consists of 1.8 billion measurements of several sensor data of the robotic wrist in 1-second intervals over six months in 2020. The data is split by the recording date over 98 files.