README.md
Franka Research 3
The Franka Research 3 (FR3) is an advanced 7-axis force-sensitive robotic arm developed by Franka Robotics for advanced robotics research, physical AI, motion control, human-robot interaction and experimental automation.
The FR3 combines a compact design, torque sensing in all 7 joints and access to high-frequency low-level control, making it particularly suitable for universities, research institutions, laboratories and companies developing and evaluating new robotics applications.
The robotic arm features a 3kg maximum payload capacity, 855mm maximum reach, ±0.1mm position repeatability and 7 degrees of freedom, enabling dexterous and agile movements in compact work environments. [1]
Joint Parameters [2][3]
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Maximum Acceleration |
| J1 |
-166° |
166° |
0° |
150°/s |
573°/s² |
| J2 |
-105° |
105° |
-20° |
150°/s |
573°/s² |
| J3 |
-166° |
166° |
0° |
150°/s |
573°/s² |
| J4 |
-176° |
-7° |
-145° |
150°/s |
573°/s² |
| J5 |
-165° |
165° |
0° |
301°/s |
573°/s² |
| J6 |
25° |
265° |
125° |
239°/s |
573°/s² |
| J7 |
-175° |
175° |
0° |
301°/s |
573°/s² |
Cartesian Parameters [3]
- Maximum TCP linear speed: 3000mm/s
- Maximum TCP linear acceleration: 9000mm/s²
- Maximum TCP angular speed: 143°/s
- Maximum TCP angular acceleration: 974°/s²
Notes
- The joint and Cartesian velocity/acceleration values are Franka Control Interface (FCI) limits and should not be interpreted as strict physical actuator limits.
- The actual achievable joint and TCP motion depend on robot configuration, payload, joint limits, torque limits and commanded trajectory.
References