{"id":"franka-robotics-franka-research-3","model_id":"Franka Research 3","name":"Franka Robotics Franka Research 3","summary":"The Franka Research 3 is a 7-axis force-sensitive collaborative robot arm intended for robotics and AI research. It has a 3 kg payload and 855 mm reach, with link-side torque sensors in all seven joints and 1 kHz joint control through the Franka Control Interface. The arm is mounted upright and connects to a separate rackmount control unit.","study_notes":["Force/torque sensing is a link-side torque sensor in all 7 axes.","Joint torque limits: A1-A4 ±87 Nm; A5-A7 ±12 Nm.","Installation position is upright.","Control unit v5.1 is a 19'' rackmount unit, 355 x 483 x 89 mm (D x W x H), ~7 kg, IP20.","Guiding force is ~2.5 N; adjustable translational stiffness is 10-3000 N/m and rotational stiffness is 1-300 Nm/rad.","FCI provides 1 kHz low-level control and 1 kHz measurement of joint and Cartesian data; libfranka supports C++, ROS 2, MATLAB and Simulink.","Workspace efficiency is 94.5%; maximum reach of flange is 855 mm and reach with flange parallel to base is 1188 mm.","Add-ons include a 2-finger gripper and a vacuum gripper."],"safety_notes":["Certification process ongoing against EN ISO 13849-1:2015 and EN ISO 10218-1:2011.","Safety functions include emergency stop (X3.1), external enabling device (X4), enabling button, two configurable safe inputs (X3.2/X3.3), SLP-C, SLS-C, SLP-J, SLS-J, SLD and SEEP O.","Collaborative operation modes are monitored stop, hand-guiding and speed and separation monitoring.","Stopping functions include category 0, category 1 and category 2 stops; worst-case safe Cartesian position accuracy for stopping functions is 50 mm.","PFH is < 1 × 10−7 for PL d, Cat 3 and for PL b, Cat b safety functions.","FCI cannot control the robot while SLP-C or SLS-C is active."],"sources":[{"url":"https://franka.de/franka-research-3","title":"Franka Research 3","accessed":"2026-10-26"},{"url":"https://franka.de/hubfs/Datasheet%20Franka%20Research%203_R02212_2.4_EN.pdf?hsLang=en","title":"Datasheet Franka Research 3 R02212 2.4 EN","accessed":"2026-10-26"}],"verification":{"status":"source_checked","checked_at":"2026-10-26","values":44,"method":"llm_source_check"},"updated_at":"2026-10-26","type":"hardware","spec":{"category":"collaborative_robot","manufacturer":"franka-robotics","controllers":[],"axes":7,"payload_kg":3,"reach_mm":855,"repeatability_mm":0.1,"weight_kg":18.3,"max_tcp_speed_mm_s":2000,"supply_voltage":"100-240 VAC","safety_rating":"PL d, Cat 3","flange":"DIN ISO 9409-1-A50","power_consumption_kw":0.08,"ip_rating":"IP40","operating_temp_min_c":5,"operating_temp_max_c":45,"joints":[{"name":"A1","range_min_deg":-166,"range_max_deg":166,"max_speed_deg_s":150},{"name":"A2","range_min_deg":-105,"range_max_deg":105,"max_speed_deg_s":150},{"name":"A3","range_min_deg":-166,"range_max_deg":166,"max_speed_deg_s":150},{"name":"A4","range_min_deg":-176,"range_max_deg":-7,"max_speed_deg_s":150},{"name":"A5","range_min_deg":-165,"range_max_deg":165,"max_speed_deg_s":301},{"name":"A6","range_min_deg":25,"range_max_deg":265,"max_speed_deg_s":239},{"name":"A7","range_min_deg":-175,"range_max_deg":175,"max_speed_deg_s":301}],"protocols":["modbus-tcp","opc-ua"],"standards":[],"error_codes":[]},"url":"https://machineschema.com/hardware/franka-robotics-franka-research-3","license":"https://creativecommons.org/licenses/by/4.0/"}