# Franka Robotics Mobile FR3 Duo

Hardware · `Mobile FR3 Duo` · verification: source checked

Mobile FR3 Duo is a prototype mobile dual-arm robot system. It combines two FR3 robot arms with a Tactile Mobile Robot omnidirectional base, embedded sensors, and an NVIDIA Jetson AGX Orin user PC. The system is intended for data collection and policy execution in mobile environments.

## Specification

| Property | Value |
|---|---|
| Category | other |
| Payload | 3 kg |
| Reach | 855 mm |
| Processor | NVIDIA Jetson AGX Orin |

## Connected

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

## Safety

- FCI provides low-level real-time control without internal transformation; internal supervision only prevents self-damage.
- FCI permits custom safety rules to be implemented for operator protection.
- FCI provides collision and contact information at 1 kHz.

## Study notes

- Mobile FR3 Duo is labeled a prototype.
- Payload is stated as 100 kg for the base and 3 kg per arm.
- Base dimensions are 800 x 580 x 294 mm.
- Max speed is stated as 1.75 m/s.
- Embedded sensors: 14 arm torque sensors, 2 LiDARs, 7 cameras, and 1 IMU.
- Connectivity: Wi-Fi, Ethernet, USB, and Bluetooth.
- FCI control frequency is 1 kHz over Ethernet (UDP).
- Includes two FR3 robots, one FR3 Duo Mounting Kit comprising FR3 Duo Mount and FR3 Duo Cover, and Tactile Mobile Robot (TMR).
- Optional FR3 Duo Vision and Manipulation Kit includes two Robotiq 2F-85 grippers with shared power supply, two RealSense D405 wrist cameras with holders and cabling, and a Stereolab ZED Mini Stereo Camera mounted on a Franka Head Bracket.
- FCI provides five command interfaces: joint torque, joint position or velocity, and Cartesian pose or velocity.
- ROS 2 integration includes MoveIt, franka_ros, URDF models, 3D meshes, RViz visualization, and Gazebo simulation.

## Sources

1. [Mobile FR3 Duo](https://franka.de/mobile-fr3-duo) (accessed 2026-10-26)
2. [MobileFR3Duo TwoPager February 2026](https://franka.de/hubfs/MobileFR3Duo_TwoPager_February%202026.pdf?hsLang=en) (accessed 2026-10-26)

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