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Robotic arms: Franka Emica

At RaM we have multiple general-purpose robotic arms; KUKA LBR4+ arm and Franka Emika Panda arms. Each is a 7-axis fully-actuated robot with torque sensing and control. Each joint is equipped with a position sensor on the input side and position and torque sensors on the output side. The robots can thus be operated with position, velocity and torque control.Unlike typical factory robots, which are so dangerous they are often put inside cages, these arms can operate among people. They are designed to perform tasks that require direct physical contact in a carefully controlled manner. These include drilling, screwing, and buffing, as well as a variety of inspection and assembly tasks that electronics manufacturers in particular have long wanted to automate. The KUKA robot is programmable in C++.The Franka Emika robots are setup with Robotic Operating System (ROS) interface, hence they may be programmed in a variety of languages such as C++, Python, etc.

Key features:
  • Internal data of the robot and accepts parameters and control values at an update frequency of up to 1 kHz;
  • Workspace range 855mm;Immediate stop in case of collision;
  • Accurate contact detection, interpretation and reaction;
  • Weight of 18kg;
  • 3kg load capacity;
  • More modern easy to use control interface, both programmatically as well as GUI based.
Possible applications:
  • Medical applications such as control of an ultrasound transducer to follow in-body instruments such as a catheters, endoscopes or biopsy needles.
  • Inspection and service robotic applications;
  • Development of eye-in-hand visual servoing algorithms;
  • Implementation of control algorithms for industrial and medical manipulation tasks;
  • Learning by demonstration and reinforcement learning of manipulation tasks;
  • Testing teleoperation algorithms;
  • Physical human-robot collaboration and interaction tasks;

Access information

Corresponding infrastructureUniversity of Twente
Department of Robotics
LocationHallenweg 15, 7522 NH Enschede, Holland
Unit of accessWorking day

Technical specifications

Sensitivity:joint torque sensors in all 7 axes
Payload:3kg
Degrees of freedom:7
Maximum reach:855 mm

Additional information