Table 1 Characteristics of the cobots found in the studies

Degrees of Freedom

6

7

7

7 per arm

7

7

6

Payload Capacity (kg)

UR3: 3 kg,

UR5: 5kg,

UR10: 10kg

LWR4+:

7kg,

LBR iiwa 7:

7 kg

3 kg

0.5 kg per

arm

4 kg

7 kg

2.6kg

Robot Weight

UR3: 11 kg, UR5:18.4 kg, UR10: 28.9 kg

LWR 4+: 16 kg, LBR iiwa 7: 23.9 kg

18 kg

38 kg (entire robot)

19 kg

26 kg

4.4 kg

Robot Reach

UR3: 500 mm, UR5: 850 mm, UR10: 1300 mm

LWR 4+: 790 mm, LBR iiwa 7: 800 mm

855 mm

559 mm per arm

1260 mm

923 mm

985 mm

Pose Repeatability

± 0.1 mm

LWR 4+: ±0.05 mm, LBR iiwa 7: ± 0.1 mm

± 0.1 mm

0.02 mm

± 0.1 mm

± 0.05 mm

±0.03 mm

Controller

Control box Via the Teach Pendant, Programming Iinterface

KUKA Sunrise Cabinet via The SmartPAD, Programming Interface

Software API

IRC5 Controller Via the FlexPendant Programming Interface

Intera

Agile Control System

Kortex

Joint Working Range

±360°

±120° -

±170°

±166° -

±215°

\(\pm\) \(\pm\) \(\pm\)88° -

±290°

341° - 540°

±179°

±135°

Programming languages

URScript, Python, ROS, C++, MATLAB, Teaching Through Demonstration

Java, C++, Python, MATLAB, Teaching Through Demonstration

C++, Python, MATLAB

RAPID, Python, ROS, MATLAB, Teaching Through Demonstration

Intera Studio, C++, Python

C ++, Python, MATLAB

Kortex API, C++, MATLAB

Safety Feature

Force Sensing, Emergency stop

Force detection, emergency stop

Force sensing, emergency stop

Dual arm with Collision detection, emergency stop

Force Sensing, ergency Stop

Force Sensing, Emergency stop

Force sensing, emergency Stop

Studies

Found

[31, 39–49]

[32, 38, 50–60]

[61–64]

[68]

[65]

[66]

[67]