“Research” App Bundle for the Franka Research 3 Robotic Arm

PRESENTATION OF THE "RESEARCH" APPLICATION PACK FOR THE FRANKA RESEARCH 3 ROBOTIC ARM FROM FRANKA EMIKA

The Research version of the Franka Research 3 robotic arm includes an application pack designed for education and training. This pack includes the following applications:

Repeat

As its name implies, it enables to repeat one or several actions (there are 3 modes for this "repeat" function: with a waiting time between each loop, without waiting time, with a user confirmation between each loop)

Set cartesian compliance

Robotic arm compliance settings.

Set joint compliance

Allows the user to set the compliance of each joint separately.

Set Collision Thresholds

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

Cartesian motion

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

Joint motion

Non-linear movement of the arm between two points. The joints are synchronized (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 encounters an obstacle on its path.

Apply force

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

Line

Moves the gripper in an X, Y or Z direction at a given Speed. Can be combined with Apply force.

Lissajous figures

Moves the gripper along a specific harmonic curve.

Moves the gripper according to a spiral shape.

User interaction

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

Modbus wait

The robot behavior 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 if the object the gripper is holding has not fallen.