--- title: "Franka Research 3" description: "Franka Research 3 is a cutting-edge robotic platform with 7 degrees of freedom, high-resolution torque sensors, and ROS 2 and MATLAB integration, ideal for research." canonical: https://franka.de/franka-research-3-arm url: https://franka-robotics.getmd.ai/franka-research-3-arm.md last_converted: 2026-09-17T08:59:59.390Z --- ```json { "@context": "https://schema.org", "@graph": [ { "@type": "VideoObject", "contentUrl": "https://24883234.fs1.hubspotusercontent-eu1.net/hubfs/24883234/video_assets/275181335767/inherited/web_optimized.mp4", "dateModified": "2025-09-12T09:01:36.860Z", "description": "The Franka Research 3 (FR3) is a state-of-the-art, force-sensitive robot system designed to bridge intuitive use with full access to advanced control and learning capabilities. Built on years of expertise in human–robot interaction, FR3 empowers researchers, educators, and innovators with a platform that combines ease of use, openness, and precision.\n\nFR3 is engineered for seamless interaction. Its design emphasizes improved usability, featuring intuitive markings, axis indicators, and a refined look that supports fast setup and operation. At the same time, it provides researchers with deep access to the robot’s control architecture, making it a versatile tool for projects ranging from fundamental robotics studies to real-world applications.\n\nWith the Desk API (System Image v5.8), FR3 offers programmatic control over essential functions such as brake management, FCI activation, and safety handling — giving users the flexibility to automate processes, customize workflows, and integrate FR3 into diverse research environments.\n\nA major advancement is the torque calibration feature, which allows torque sensors to be recalibrated in the field. This ensures long-lasting precision and reliability, even in demanding experimental settings. Combined with MuJoCo support, FR3 enables streamlined simulation and testing, opening the door for faster prototyping, validation, and research in machine learning, control, and reinforcement learning.\n\nCompact, responsive, and adaptable, the Franka Research 3 is more than a robot — it is a research companion built to advance the frontiers of robotics, AI, and human–machine collaboration", "duration": "PT1M6.07S", "height": 2160, "name": "Franka Research 3 (FR3): force-sensitive robot for intuitive use and advanced research. Explore improved usability, Desk API, torque calibration & MuJoCo support.", "thumbnailUrl": "https://api-eu1.hubspot.com/filemanager/api/v3/files/thumbnail-redirect/275181335767?portalId=24883234&size=medium", "uploadDate": "2025-09-12T08:52:35.615Z", "width": 4096 } ] } ``` Introducing System Image v5.9 – now available. Introducing System Image v5.9 – now available. [Explore v5.9 features](https://franka.de/franka-research-3?hsLang=en#system-image) # FRANKA RESEARCH 3 Franka Research 3 is the reference world-class, force-sensitive robot system tailored for robotics and AI. It empowers researchers with easy-to-use robot features as well as with low-level access to robot’s control and learning capabilities. [Download Brochure](https://franka.de/hubfs/Brochure_Franka%20Research%203_February%202026_English.pdf?hsLang=en) [Buy now](#request-a-quote-fr) Find out more about all features of FR3. Get a free technical presentation with our experts! [Book a meeting](https://franka.de/franka-technical-presentation?hsLang=en) WHY FRANKA RESEARCH 3 1. ![Franka Research 3 high-quality mechatronic system with precision-engineered components and integrated sensors](https://franka.de/hubfs/_Frank%20Robotics4386_resized-1.jpg) **High-Quality Mechatronic System** Engineered and manufactured in Germany, Franka Research 3 is a reliable robot system. FR3 is equipped with high-quality sensors, best-in-class actuators and is optimized for performance and ergonomics. 2. ![Franka Research 3 robot demonstrating human-like dexterity in tight spaces](https://franka.de/hubfs/_Frank%20Robotics4381_cropped_resized.jpg) **Human-like Dexterity** The 7 degrees of freedom Arm of Franka Research 3 offers human-like dexterity, enabling motions in tight spaces and around obstacles. 3. ![Close-up of torque sensors in each joint of Franka Research 3 robot](https://franka.de/hubfs/_Frank%20Robotics0265_resized.jpg) **High Sensitivity** The torque sensors integrated at each joint finely estimate external contact forces, and the fast control loop enables prompt reaction to collisions. The high sensitivity permits advanced torque or force control possibilities and provides smooth and intuitive hand-guiding capabilities. 4. ![User programming Franka Research 3 robot via intuitive interface](https://franka.de/hubfs/_Frank%20Robotics0564resized.jpg) **Versatile Control Interfaces** From the most intuitive programming UI for quick task setup to advanced direct joint control for deep research, Franka Research 3 adapts to the needs of every user. 5. ![_Franka Robotics 20241741 (1)resized](https://franka.de/hubfs/_Franka%20Robotics%2020241741%20(1)resized.jpg) **Advanced Motion Control** High-frequency (1 kHz) motion control with a low-level, high-quality sensor data interface, ideal for motion control research and the development of highly specific behaviors, unachievable with most robots. 6. ![Franka Research 3 integrated with ROS 2 and MATLAB for collaborative research](https://franka.de/hubfs/_Frank%20Robotics0014_resized.jpg) **Open and Collaborative Platform** Join our global community of top robotics researchers, and integrate seamlessly with the leading open-source frameworks such as ROS 2, MATLAB and many others to reproduce, advance and share cutting-edge research. ![Payload 3kg](https://franka.de/hubfs/Group%201788.png) Payload 3 kg ![855mm Reach](https://franka.de/hubfs/Group%201756.png) Reach 855 mm ![94,5% workspace efficiency](https://franka.de/hubfs/Group%201786.svg) Workspace efficiency 94.5 % ![ Position repeatability <± 0.1 mm ![7 Degrees of freedom](https://franka.de/hubfs/Group%2015525.svg) Degrees of freedom 7 ![7 Integrated torque sensors](https://franka.de/hubfs/Group%2015512.svg) Integrated torque sensors 7 1. ![Franka Research 3 robot arms in action](https://franka.de/hubfs/_Frank%20Robotics4386_resized.jpg) 2. ![Franka Research 3 torque sensors](https://franka.de/hubfs/_Frank%20Robotics0265_resized-1.jpg) 3. ![Franka Research 3 end effector](https://franka.de/hubfs/_Frank%20Robotics0304%201_resized.jpg) 4. ![Franka research 3 end effector](https://franka.de/hubfs/_Frank%20Robotics0200_resized.jpg) 5. ![Franka Research 3 robot wrist](https://franka.de/hubfs/_Frank%20Robotics0041_resized.jpg) 6. ![Franka Research 3 joint](https://franka.de/hubfs/_Frank%20Robotics0127_resized.jpg) 7. ![Franka Research 3 robot base](https://franka.de/hubfs/_Frank%20Robotics0155_resized.jpg) 1. 2. 3. 4. 5. 6. 7. ## DISCOVER THE LATEST UPGRADES Stay ahead with our newest features, extensions, and optimizations. FR3 and its software are continuously progressing, via free over-the-air updates. [Download Datasheet](https://franka.de/hubfs/Datasheet_FrankaResearch3_R02212_2.4.pdf?hsLang=en) Read System Image 5.9 announcement over the Franka Community [Franka Community](https://www.franka-community.de/t/update-system-image-v5-9-is-here/8434) 1. ### ENHANCED USABILITYFR3 Arm v2 *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> With intuitive joint rotation markings and X/Y axis indicators, plus a sleek, modern look, the new design is as functional as it is eye-catching. 2. ### DESK APISystem Img v5.8 *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> The new Desk API enables you to programmatically administrate and operate FR3. Progammatically open the brakes and activate FCI, clear safety violations and much more! 3. ### TORQUE CALIBRATIONSystem Img v5.8 *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> Directly in the field, recalibrate the internal torque sensors to deliver consistent accuracy during the complete lifetime. 4. ### MUJOCO SUPPORTFrom the community *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> Power up your simulations with MUJOCO, offering a seamless experience for modeling and testing. 5. ### JOINT-SPACE JOGGING SYSTEM IMG V5.9 *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> Control individual joints directly from the Desk sidebar while in Test & Jog mode. Fine-tune poses with intuitive, precise joint-level adjustments. 6. ### FCI CONTROL ENHANCEMENTS SYSTEM IMG V5.9 *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> FCI now supports asynchronous joint-position updates and full access to the robot’s datasheet-level joint limits – enabling smoother, more flexible, and compliant control workflows. ![Flow Graphic V3](https://franka.de/hubfs/Flow%20Graphic%20V3.jpg) ## FRANKA CONTROL INTERFACE (FCI) Franka Control Interface (FCI) is designed for roboticists who require fine-grained control over the robot and access to real-time sensor data. It is ideal for motion control research and the development of highly specific behaviors, unachievable with most robots. [Read documentation](https://frankarobotics.github.io/docs/) 1. ### DIRECT CONTROL *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> FCI provides low-level, real-time control of the robot, without internal transformation. Internal supervision only prevents self-damage. Gain access to the control loop, including position, velocity and torque in joint space, as well as position and velocity in Cartesian space. 2. ### DATA ACQUISITION *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> Capture system state data from sensors and models at 1 kHz. FCI also provides external force estimation and additional insights. 3. ### COMMUNITY *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> Join the ever-growing Franka Robotics community and leverage C++, ROS 2, or MATLAB & Simulink to accelerate robotics innovation. 4. ### SAFETY *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> Implement custom safety rules to ensure operator protection. 5. ![Franka Robotics Community leverage C++, ROS2, MATLAB & Simulink](https://franka.de/hubfs/_Frank%20Robotics0615_resized-1.jpg) 6. ### REAL-TIME CONTROL AND ROS INTEGRATION *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> The Franka Control Interface (FCI) allows a fast and direct low-level bidirectional connection to the Arm and Hand. It provides the current status of the robot and enables its direct control with an external workstation PC connected via Ethernet. By using *libfranka*, our open source C++ interface, you can send real-time control values at 1 kHz with 5 different interfaces: - Joint level torque commands with gravity and friction compensation. - Joint position or velocity commands. - Cartesian pose or velocity commands.Simultaneously, you gain access to 1 kHz measurements of: - Joint data, e.g., the position, velocity and link side torque sensor signals. - Estimation of externally applied torques and forces. - Various collision and contact information.The robot model library provides: - Forward kinematics of all robot joints. - Jacobian matrix of all robot joints. - Dynamics, inertia matrix, Coriolis and gravity vector.Additionally, *franka_ros*connects Franka robots with the entire ROS 2 ecosystem, integrating *libfranka*into ROS 2 Control. It includes URDF models and detailed 3D meshes of our robots and end effectors, which allows visualization (e.g., RViz) and Gazebo simulation. Furthermore, the MoveIt! integration simplifies motion planning and gripper control, with example implementations demonstrating how to operate the robot using ROS 2. Interface ## THE RIGHT INTERFACE FOR EACH USE CASE ##### Three access levels to the robot address different needs and skills, ##### for the whole spectrum of robotics research. 1. ![app-tablet-image.d494a29](https://franka.de/hubfs/app-tablet-image.d494a29.png) ### DESK The ease of use and minimal programming time makes Desk the most suitable interface for rapid prototyping, simple human robot interaction studies and demos. [See details](https://franka.de/develop#anchor-desk-en) 2. ![Franka Robotics Ride experimental set-up](https://franka.de/hubfs/ride.a041de5.png) ### RIDE It enables researchers to fully integrate the Franka Robotics system into experimental setups, and exploit its integrated high performance controllers. It is also a great tool for teaching introductory robotics. [See details](https://franka.de/develop#anchor-ride-en) 3. ![FCI_Franka Control Interface](https://franka.de/hubfs/fci.7cc017e.png) ### FCI FCI bypasses the robot’s Control to let researchers run their own control algorithms in external real-time capable PCs at 1 kHz. It is the ideal interface to explore low-level planning and control schemes. [See details](https://franka.de/develop#anchor-fci-en) *]:space-y-[8px] [&_ol]:text-t1-bullets [&_ul]:text-t1-bullets [&_ul]:list-disc [&_ul]:list-inside [&_ol]:list-inside [&_table]:!table-fixed [&_table]:light:!border-black [&_table]:dark:!border-white [&_table]:border [&_table]:!text-t1 [&_table]:!border-collapse [&_td]:light:border-black [&_td]:dark:border-white [&_td]:border [&_td]:!px-[6px] [&_td]:!py-[2px] [&_td]:!w-auto "> | | DESK | RIDE | FCI | | --- | --- | --- | --- | | Workflow-based programming using Apps | | | | | Quick prototyping of experiments and demos | | | | | Execution of robot tasks | | | | | Development of customized Apps | | | | | Connection of third-party hardware | | | | | Connection of external resources | | | | | 1 kHz torque, position and velocity control | | | | | 1 kHz measurement of sensor signals and robot status | | | | | Access to kinematic and dynamic robot model | | | | | Integration with ROS and MATLAB & Simulink | | | | ADD-ONS ![_Frank Robotics0363_RESIZED](https://franka.de/hubfs/_Frank%20Robotics0363_RESIZED.jpg) ![_Frank Robotics0363_RESIZED](https://franka.de/hubfs/_Frank%20Robotics0363_RESIZED.jpg) ## DISCOVER HOW TO ENHANCE YOUR ROBOT SYSTEM [See add-ons](https://franka.de/add-ons?hsLang=en) ![Franka Research 3 in Arbitrary Mounting set-up](https://franka.de/hubfs/BigPicture.jpg) ![Franka Research 3 in Arbitrary Mounting set-up](https://franka.de/hubfs/BigPicture%20-%20Mobile.jpg) ![Franka Research 3 with Ai Companion integration](https://franka.de/hubfs/_Franka%20Robotics%20_Franka%20AI%20Companion_20241723.jpg) BUILD, CREATE, INNOVATE ## DEVELOP ON THE FRANKA ROBOT PLATFORM The resource hub for developers working with the Franka Research 3 robot platform. Dive into a wealth of tools, libraries and documentation designed to accelerate your development journey. Whether you're a seasoned developer or just starting out, you'll find everything you need to build, create and innovate. [Explore](https://franka.world/?redirect_after_login_to=%2Fresources) ## REQUEST A QUOTE We'd love to hear from you! Please fill out the form and we'll get back to you as soon as possible. The process is quick and easy: 1. Fill out the form with your details and requirements. 2. A member of our team might reach out to discuss your goals in more detail. 3. We'll provide a tailored solution and a quote that fit your needs. Let’s start the conversation today!