Franka Control Interface Documentation

Note

The software and its documentation support two different robots, the Franka Research 3 (FR3) and an older Franka Robotics Robot (FER or Panda).

The Franka Control Interface (FCI) can be accessed via several open source components which we provide on GitHub. We welcome contributions and suggestions for improvements.

These components are:

libfranka, a C++ library that provides low-level control of Franka Robotics research robots. Its source code is available at https://github.com/frankaemika/libfranka. API documentation is available at https://frankaemika.github.io/libfranka.

franka_ros, our ROS integration, including support for ROS Control and MoveIt!. It also contains franka_description, a collection of URDF models and 3D meshes that can be useful outside of ROS. The repository is available at https://github.com/frankaemika/franka_ros.

franka_ros2 The repository is available at https://github.com/frankaemika/franka_ros2.

Franka MATLAB® provides a Simulink and a Matlab API, together with helper functions and tools, for rapid-prototyping in Real-Time on the Franka Robot” Franka MATLAB® artifacts can be obtained at Franka World.

The source code of this documentation is also available online.

Important

Before you start using the FCI, please read through the documents shipped with the robot and the Minimum system and network requirements chapter.

Note

Using a robot with system version 4.2.0 or higher requires to enable the FCI mode. To do that open Desk -> expand the menu in the sidebar -> press ‘Activate FCI’. Further information about Single Point of Control (SPoC) can be found in the manual shipped with the robot.

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