7-DOF collaborative arm · 2017
Franka Research 3
The arm that defined torque-controlled manipulation research. Seven DOF, joint torque sensors in every joint, and an interface that lets you command torques at 1 kHz — which is why it is in so many papers.
$35k
Franka Emika
7 DOF
Closed source
Why it matters
Direct torque control at 1 kHz with real torque sensing. Impedance control, force-based assembly and learning-from-demo all work properly on it.
Where it falls short
3 kg payload, 855 mm reach, and a $35k price. Not for heavy industrial work — and FCI-level control requires care since a bad torque command moves a 18 kg arm fast.
Read this if you plan to copy itThe parts below are the same classes of component at this platform scale — they are not the exact vendor parts. Use them to understand the architecture and to price a home-built equivalent.
What it is made of
| Subsystem | Comparable part | Price | Primary spec |
|---|---|---|---|
| Transmission | Harmonic Drive CSF-14-100 | $1.2k | 100:1 |
| Sensors | AS5047P magnetic encoder | $10 | 14-bit (16384 counts/rev) |
| End Effectors | Robotiq 2F-85 | $5.8k | 85 mm (0 – 85 mm opening) |
Software you would touch
Franka FCI (C++) · ROS · libfranka · Python bindings