THE REFERENCE PLATFORM FOR ROBOTICS & AI

DIRECT CONTROLFCI

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.DATA ACQUISITIONCapture system state data from sensors and models at 1 kHz. FCI also provides external force estimation and additional insights

.COMMUNITY

Join the ever-growing Franka Robotics community and leverage C++, ROS 2, or MATLAB & Simulink to accelerate robotics innovation.SAFETYImplement custom safety rules to ensure operator protection.

REAL-TIME CONTROL AND ROS INTEGRATION

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.