PANDA Robotic Arm

Presentation of the Panda Robotic Arm, by Franka Emika

A PARTICULARLY COMPLIANT COLLABORATIVE ROBOT

The Panda Robotic Arm has torque sensors in all its 7 axes for superior compliance, making it possible to stop the Panda arm with merely a balloon.

These sensors also make it exceptionally accurate and stable.

The Panda robot gripper (see Accessories) is capable of exerting a continuous gasping force of 70 N (and a maximum force of 140 N) and can lift up to 3 kg. The maximum width of the open gripper is 80 mm. Which allows this FRANKA EMIKA robotic arm to lift a wide variety of objects.

The team of engineers responsible for designing this robot wanted to create a dexterity and compliance as similar as possible to those of a human arm.

QUALITY MADE IN GERMANY

Franka Emika is a company based in Munich founded by the distinguished Professor Sami Haddadin, who is now head of the Department of Robotics and AI at the Technical University of Munich (TUM).

He has held research positions at the German Aerospace Center (DLR) and is the author of over 130 scientific publications. He has also received numerous awards and prizes for his work in the field of robotics and AI.

Users of the Panda Robotic Arm, developed and produced in Germany by Franka Emika, will enjoy its German precision and cutting-edge technology.

EXTREMELY EASY TO USE AND INSTALL

Particularly simple to install and operate, you can get your Panda robot up and running in just 15 minutes.

The robot’s Desk interface can be accessed from just a web browser. Simply connect to the robot using an Ethernet cable to establish communication and you can begin controlling the Panda arm. Its Desk interface is very intuitive and easy to use.

Desk interface for the Franka Emika Panda robot

Franka Emika Panda Robotic Arm apps

STANDARD VERSION OF THE PANDA ROBOTIC ARM

The Panda Robotic Arm is designed to be both versatile and quick to master, so it can be easily used in a variety of very different environments, including:

• Production lines
• Hospitals and nursing homes
• Laboratories
• Logistics platforms
• Etc.

Please note that the robot’s different “industry" functionalities (packing, pick and place, testing, boxing) are provided as part of an app bundle that must be purchased separately, please contact us for more information.

Franka Emika is the first robot distributor to offer CE-certified ready-to-use solutions for a list of scenarios. If your robotics project fits into one of these scenarios, you will be able to use your Panda robot immediately, without having to carry out a risk assessment.

A complex task can be divided between several Panda robots using a cloud computing system.

RESEARCH VERSION OF THE PANDA ROBOTIC ARM

The Panda Robotic Arm is precise, supports C++ and ROS integration, is easy to use and is affordable, making it a popular choice for universities and research laboratories.

The Inria Rennes research centre chose it for its ViSP project, as part of a visual servoing SDK. They adapted a RealSense camera to a Panda arm, which then used its gripper to follow a QR code printed on a sheet of paper moved around by a researcher at random.

You will find more information about ViSP along with the tutorial with the Panda arm at the Inria ViSP website.

Students from the Imperial College London university have also carried out a project using the Franka Emika Panda robot for their Technical Robotics Design module.

You will find all the documentation for this project, aimed at teaching the Panda robot how to play chess, online here: DE3-ROB1 CHESS Group Documentation.

This is the version you will find on our website. The Panda Research package includes:

• The Panda Robotic Arm
  
• The Pilot controller
  
• The 2 activation devices
  
• The emergency shutdown system
  
• The connection cable
  
• The FCI licence
• It is possible to add the Research App Bundle for the PANDA Robotic Arm (optional)

  

  What is the FCI licence?
  

  FCI is an acronym that stands for Franka Control Interface, a solution developed by Franka Emika that lets you control and program the Panda robot in C++. The FCI also allows the integration of ROS and MoveIt!

  Franka Emika provides extensive documentation for its FCI, all available online. You will find installation instructions, C++ libraries, ROS packages and more (see Resources at the bottom of this page).

  

  Research App Bundle

  A Research App Bundle (optional) has been created for education and training. This pack includes the following apps:

  Repeat

  As its name suggests, this can be used to repeat one or more actions (there are 3 modes for this “repeat” function: with a waiting time between each loop, with no waiting time, with user confirmation between each loop).

  Set Cartesian Compliance

  Allows you to adjust the flexibility of the robotic arm.

  Set Joint Compliance

  Allows you to adjust the flexibility of each joint separately.

  Set Collision Thresholds

  The user can create safety thresholds in X, Y and Z. As soon as the moving robot exceeds these thresholds, it stops.

  Cartesian Motion

  Linear movement in X, Y and Z, between two points.

  Joint Motion

  Non-linear movement of the arm between two points. The joints are synchronised (simultaneous start and stop).

  Relative Motion

  Similar to the Cartesian Motion function, but with relative reference points.

  Move Contact

  Similar to the Cartesian Motion function, but the robot reacts if it meets an obstacle in its path.

  Apply Force

  To move the arm with a given force in X, Y and Z directions from its current position and for a given time.

  Line

  To move the gripper in an X, Y or Z direction at a given speed. Can be combined with Apply Force.

  Lissajous Figures

  Moves the gripper according to a specific harmonic curve.

  Spiral

  Moves the gripper in a spiral shape.

  User Interaction

  The robot reacts to touch, which will trigger a specific robot reaction.

  Modbus Wait

  The robot’s behaviour is triggered when a specific value appears in the Modbus interface.

  Modbus Out

  Returns a specific value on the Modbus interface.

  Modbus Pulse

  Similar to Modbus Out, but returns a pulse instead of a specific value.

  Transport Motion

  Similar to Cartesian Motion, but the robot checks the gripper is still holding the object.

  Technical specifications of the Panda Robotic Arm by Franka Emika

  Robotic arm

• Degrees of freedom: 7 DOF
  
• Maximum payload: 3 kg
  
• Sensitivity: torque sensors in all axes (7)
  
• Maximum reach: 855 mm
  
• Rotation limits of each joint (°):
  
• A1: -166/166
• A2: -101/101
• A3: -166/166
• A4: -176/-4
• A5: -166/166
• A6: -1/215
• A7: -166/166
• Velocity limits of each joint (°/s):
  
• A1: 150
• A2: 150
• A3: 150
• A4: 150
• A5: 180
• A6: 180
• A7: 180
• Cartesian velocity limits: up to 2 m/s end effector speed
  
• Repeatability: +/- 0.1 mm (ISO 9283)
  
• Interfaces:
  
• Ethernet (TCP/IP) for visual programming with the Desk interface (PC + browser)
• Inputs for external devices
• Input for the Control unit
• Input for the gripper
• Mounting flange: DIN ISO 9409-1-A50
  
• Installation position: upright
  
• Weight: ~18 kg
  
• Protection rating: IP30
  
• Ambient temperature:
  
• +15°C to 25°C (recommended)
• +5°C to + 45°C (min/max, performance may be affected)
• Supported air humidity: 20% to 80% (non-condensing)

Control unit

• Interfaces:
  
• Ethernet (TCP/IP) (for internet or shop-floor connection)
• Power connector IEC 60320 C14 (V-Lock)
  
• Arm connector
  
• Dimensions of the Control unit: 355 x 483 x 89 mm (W x L x H)
  
• Supply voltage: 100–240 Vac
  
• Mains frequency: 47–63 Hz
  
• Power consumption:
  
• Max. 600W
  
• Average ~300W
  
• Active power factor correction (PFC): yes
  
• Weight: ~7 kg
  
• Protection rating: IP20
  
• Ambient temperature:
  
• +15°C to 25°C (recommended)
• +5°C to + 45°C (min/max, performance may be affected)
• Supported air humidity: 20% to 80% (non-condensing)
  

Hand

• Parallel gripper: with exchangeable fingers
  
• Grasping force:
  
• Continuous force: 70 N
  
• Maximum force: 140 N
  
• Travel speed:
  
• 80 mm (50 mm/s per finger)
  
• Weight: ~0.7 kg
  

Desk (control and programming interface)

• Operating platform: web browser
  
• Type of programming: visual and intuitive, dialogue-based
  
• Apps: possible to create complex workflows using the Desk interface
  

CE-certified for a range of specific scenarios (see above).

Panda robot arm integration with another robotic platfom

Panda Robotics robot arms can be set up on top of a Boxer mobile robot, with a ROS integration.

 


Resources for the Panda Robotic Arm by Franka Emika

• Quick start guide for the Franka Emika Panda robot
  
• Quickstart-Leitfaden für den Roboter Panda von FRANKA EMIKA
  
• Franka Emika Panda robot datasheet
  
• Inria ViSP website
  
• DE3-ROB1 CHESS Group Documentation