# Franka Robotics FR3 Duo

Hardware · `FR3 Duo` · verification: source checked

The FR3 Duo is a dual-arm research robot system made of two FR3 robots, a mounting kit, and optional vision and manipulation hardware. It supports teleoperation, data collection, and policy execution, with low-level control at 1 kHz through the Franka Control Interface. Each arm has 7 degrees of freedom, 855 mm reach, and 3 kg payload.

## Specification

| Property | Value |
|---|---|
| Category | other |
| Payload | 3 kg |
| Reach | 855 mm |

## Connected

- Manufacturer: [Franka Robotics](https://machineschema.com/manufacturer/franka-robotics.md)

## Safety

- Internal supervision in FCI only prevents self-damage; operator protection requires custom safety rules implemented by the user.
- FCI reports collision and contact information at 1 kHz.

## Study notes

- Dual-arm system includes two FR3 robots and one FR3 Duo Mounting Kit comprising the FR3 Duo Mount and FR3 Duo Cover.
- Each arm has 7 degrees of freedom; the document states 17 total DOF for the system.
- Each arm has 855 mm reach and 3 kg payload; 14 torque sensors are listed in total, or 7 per arm.
- Vision locations are a head camera and two wrist cameras.
- Expandability is provided by mechanical and electrical connection points.
- The optional FR3 Duo Vision and Manipulation Kit includes two Robotiq 2F-85 grippers with a shared power supply, two RealSense D405 wrist cameras with holders and cabling, and a Stereolab ZED Mini stereo camera on a Franka Head Bracket.
- FCI provides low-level real-time control at 1 kHz over Ethernet UDP, with joint torque, joint position, joint velocity, Cartesian pose, and Cartesian velocity commands.
- FCI also provides 1 kHz measurements of joint data, estimated external torques and forces, and collision/contact information.
- franka_ros integrates libfranka into ROS 2 Control and includes URDF models, 3D meshes, RViz visualization, Gazebo simulation, and MoveIt integration.
- The product is marked Prototype in the document.

## Sources

1. [FR3 Duo](https://franka.de/fr3-duo) (accessed 2026-10-26)
2. [FR3Duo TwoPager February2026](https://franka.de/hubfs/FR3Duo_TwoPager_February2026.pdf?hsLang=en) (accessed 2026-10-26)

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