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R12 (5, optional 6)
R17 (5, optional 6)
(4, 7 with
(6, optional 47)
No, can fake through
Yes, possibly weird
PaintMate 200iA (6)
Don’t think so
Looks possible, but in beta
LBR IIWA 7 R800
Mabi Speedy 6
: High power microstepped hybrid stepping motors,
optional encoder watchdogs
0.1mm (but degrades with increasing torque)
: High power microstepped hybrid stepping motors
incremental encoder watchdogs
repeatability measured as a standard deviation
of all 3 dimensions at 100% speed and zero payload over 24 hours
after a 1 hour warming up period. Figures for ISO 9283 available on
Max torque for hand pitch or roll:
2 Nm (repeatability figures degrade
with increasing torque).
Max torque for 6 axis roll
: 0.4 Nm
High performance version max torque for hand pitch or roll:
● Matching advanced electronics with inherently
backdrivable cable drives results in superbly graceful
motions. Barrett owns the technology for the highest performance servoelectronics
available in the World today. These electronics are also the smallest (43 grams) and
most powerefficient servodrive electronics available today. In fact, an entire
humansize 4dof WAMTM arm draws only 28 watts not enough to power a light bulb
further enhancing inherent safety.
● Payload Capacity: 4 Kg
● Zerobacklash and nearzero friction
● Excellent research tool: direct access to sinusoidally commutated current amplifiers for
developing advanced control algorithms
● HighLevel Cartesian Control (Trajectory and/or Force)
● Resolution on joint feedback:
● Force control:
Yes, but not sure if it’s faked...believe it’s real
Prices: not a super reputable source
The machine vision is embedded in the controller of
OUR robots. Recognition of colors and shapes can be
easily achieved with builtin or third party software
systems such as OpenCV.
The teach pendant provides a visual operating
interface for users. OUR1 teach pendant is a 12.1
inch multitouch screen tablet with 1024*768 high
resolution, which is much more convenient for
operating. User can test, program, emulate OUR1 Robot easily via teach pendant even without
any programming experience.
: 850 mm
5 Kg (11 lb.)
No evidence found, likely not
18 to 29 vdc
Says explicitly there is force control in the tech specifications and in forum
(67.5k for 23 finger hand respectively. 34,900 for
arm with 3 finger hand)
The lightweight, flexible and collaborative industrial robot UR5
from Universal Robots lets you automate repetitive and
dangerous tasks with payloads of up to 5 kg. The UR5 is ideal to
optimize lowweight collaborative processes, such as: picking,
placing and testing.
: 850mm / 33.5in
: 24V 2A in control box and 12V/24V 600mA in tool
: … not sure, it looks like programming this thing has to be done through it’s control
box? “Programming: Polyscope graphical user interface on 12 inch touchscreen with mounting”
Although there’s this article:
which says force
control was introduced back in 2013, so all in all probably yes, although how thinsg are
programmed looks weird
For robots (produced after 25/7 2012) typical tolerances are:
● Force precision: ± 10N
● Torque precision: ± 5Nm
● Position precision: ± 5mm
● Orientation precision: ± 0.5°
Robots produced before 25/7 2012, they may be less accurate in forcemode.
Force control is only available for UR5 and UR10 with software 1.6 or later.
The UR10 look to be very similar, just larger
These guys have a ton of robots and it’s hard to say which one people would
have used … maybe i’ll look through some videos. My guess at the moment
is their M10iA/7L or 8L, most of the others that would be the right kind of arm
are for moving huge payloads (100k+)
Electrical connections: 50/60Hz 3phase [V] : 380575
These kinds of robots probably don’t see much unusual control, so probably not going to have a
lot of good options for control here that we need.
Paint Mate 200iA
This fast moving paint robot offers bestinclass performance across a range of
coating and paint spraying applications. Featuring 6axis versatility and
numerous mounting possibilities, it is ideal for any number of painting
applications across a range of different industries and hazardous environments.
Tech spec sheet: