MANIPULATION, MADE EASY

TIAGo Pro Arm

A high-performance, easy to integrate arm for developers that
need a truly open platform.

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185 cm³
Total
Workspace
7 DoF
Degrees of
Freedom
0.3 mm
Repeatability

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HIGHLIGHTS

Flexibility and Adaptability

Decentralized Architecture

Eliminating the bulky external control box makes it easier to integrate this robot into existing set ups. Running directly off a laptop or small PC (like a NUC) that users can integrate via a Docker image makes it uniquely portable and easy to deploy.
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HIGHLIGHTS

A Truly Open Platform

Unrestricted low-level, ROS 2 native access

Unlock the true potential of the hardware with full ROS 2-based software and real-time 1kHz EtherCAT control. Get unrestricted access to command the arm, embed custom software, and extract high-fidelity data directly at the lowest level.
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HIGHLIGHTS

Quick Tool Changer

Swap end-effectors - no reconfiguration needed

Easily swap end-effectors with the Quick Tool Changer, simply pop one off and click the new one into place. Thanks to the Robot Reflection System, TIAGo Pro Arm is "self-aware": the system automatically detects the connected hardware components and configures the robot accordingly.

HIGHLIGHTS

PAL Robotics Ecosystem

Many Robots, One Ecosystem

Because all our platforms share a single software foundation, your work is never locked to just one robot. That means anything you build for the TIAGo Pro Arm transfers effortlessly to TIAGo Pro or KANGAROO - and back again. Build once, deploy anywhere.

HIGHLIGHTS

Unrestricted Motion

Infinite Rotation in 3 Joints

The combination of a 95 cm reach and infinite rotation on joints 1, 3, and 5 provides a near-spherical workspace with virtually zero blind spots. This eliminates mechanical constraints like joint-unwinding downtime and simplifies AI path planning, allowing the arm to operate continuously and efficiently in tight, unstructured environments.
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HIGHLIGHTS

Easy Set-up and Integration

Lightweight Design

A lightweight build of under 10 kg and a 3 kg payload make it practical and portable across a wide range of environments and use cases.

HIGHLIGHTS

Inherent Compliance and Safety

Series Elastic Actuator (SEA) technology

Thanks to the elastic element of the actuators, the robot naturally absorbs impacts which protects the hardware from breaking experimental runs. Additionally, status indicators on the wrist and safety brakes on every joint, further ensure safe human-robot interaction.
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COMING SOON

Visual programming

Intuitive Control at the Surface

Monitor diagnostics, control joints, and build programs visually through our highly configurable, browser-based WebGUI. Perfect for quick demos and rapid integrations, this accessible first layer adapts effortlessly to any task in minimal time.
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Technical Specifications

Performance

Torque Sensing On each Arm Actuator
Safety Brakes 6x at Joint Level
Communication Bus 1kHz EtherCAT
Payload
Max Peak Payload 7 kg
Max Continuous Payload 6 kg
Joint Range of Motion Joint 1, 3, 5: ±∞
Joint 2, 4: -139.8°, +63.03°
Joint 6: -98.0°, +172.0°
Joint 7 (wrist): ±140.0°
Repeatability 0.3 mm
Speed 1.1 m/s
Operation Cycle ~24 h
Power Supply 36V 160W 4.4A
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Software & Development

OS Ubuntu LTS 64-bits
PREEMPT-RT Framework
Middleware ROS 2 LTS
Controllers ros2_controller
PAL Proprietary Controllers
Web Commander PAL Web GUI
Custom Controller Development ✓
Control Spaces Joint space | Cartesian space
Actuator Control Modes Position | Velocity
Effort | Torque
Included Software Package
Motion Library ✓
Integrations MoveIt2
ros2_control
Development Tools Docker Image with PAL SDK
RViz Plugins
URDF Model
Compatible Simulator MuJoCo
Gazebo Dynamic Simulation
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Computing

Control PC Ultra-compact controller
VPN Connection Wireguard
Connectivity WiFi
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Workspace

Horizontal Reach 75 cm
Total Workspace 1.85 m³
View Top and side view of the workspace area with the standalone TIAGo Pro Arm
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Dimensions

Height 110 cm
Weight 9.5 kg
Footprint 15 x 15 cm
Total DoF 7
User Panel View User panel view of the TIAGo Pro standalone arm
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End-Effector

Quick tool changer ✓
Flange mounting points ✓
Communication bus 1KHz EtherCAT
Joint Status Indicator ✓
Control Mode Switch ✓
End-Effector
(interchangeable)		 PAL Pro Parallel Gripper
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Upgrades & Accessories

GPU NVIDIA Jetson PC
Force/Torque Sensors Wrist 6-axis F/T Sensor
Easy Transport Flightcase ✓
End-Effectors
Seed Robotics RH7D Hand 5 Fingers, 7 DoF, Tactile Sensors (optional)
Inspire Robots RH56F1 / RH56E2 5 Fingers, 6 DoF, Tactile Sensors
Allegro Hand 4 Fingers, 16 DoF
Xela Fingertip Tactile Sensors for Allegro Hand 4x (one per fingertip)
End-Effector Adapter Flange ✓
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MANIPULATION, MADE EASY

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Bridging the gap between high-level task planning and low-level motor control

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