The dataset contains the measurement of the position (mm) of the end-effector of an industrial robot (KUKA KR300) 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. The dataset contains also the measurement of the position (mm) of the end-effector of a collaborative robot (KUKA iiwa 14R820) associated with the joint position (rad) of the robot, in two different subworkspaces. These data have been used to train an ANN for positionning error prediction.