The dataset contains the measurement of the position (mm) of the end-effector of an industrial robot associated with the joint position (rad) of the robot and its payload (kg), in two different subworkspaces. For each subworkspace, 3 different payloads have been used, and for each payload, 1100 data have been measured. Thus, for each subworkspace, there is 3300 data. End-effector's dimensions are specified in the python code, in millimeters. These data have been used to train an ANN for positionning error prediction.