Name: Agile Robots Diana 7 | 7-DOF Force Control Cobots
Brand: BRIDZA

Agile Robots

Munich HQ · Germany · Joint Torque Sensors · Zero-Space Control · Impedance Control · Agile Core OS · FCI Interface

What Is the Agile Robots Diana 7?

The Diana 7 is a 7-degree-of-freedom force-controlled collaborative robot developed by Agile Robots, a robotics company headquartered in Munich, Germany. Unlike conventional 6-axis cobots, the Diana 7's redundant 7th axis provides null-space motion capability — allowing the robot to reconfigure its elbow position without moving the end-effector. Combined with high-precision joint torque sensors and 1000Hz control frequency, this enables sub-millimeter force-controlled operations critical for precision assembly, deburring, polishing, and even surgical robotics applications.

0.5N Force Accuracy

Built-in high-precision torque sensors at each joint deliver 0.5N force control accuracy. Enables delicate operations like electronic component insertion, surface polishing, and compliant grinding without dedicated force-torque sensors.

Null-Space Control

The 7th redundant axis enables null-space motion — the robot can adjust its joint configuration to avoid obstacles while maintaining the exact same end-effector pose. Critical for working in cluttered environments.

Medical-Grade Option

Diana 7 MED variant holds IEC 60601-1 and IEC 60601-1-2 medical device certifications. White finish, anti-optical reflection coating, and alcohol-wipe compatible surface for surgical and clinical environments.

Core Features & Benefits

Impedance Control Mode

Each Cartesian axis allows independent stiffness and damping parameter configuration. This programmable compliance enables adaptive behavior for contact tasks — from stiff positioning to soft compliance for delicate surface following.

Agile Core OS

Proprietary robot operating system with millisecond-level visual recognition, automatic path planning, and deep learning/reinforcement learning-based intelligent algorithms. Enables adaptive manipulation in unstructured environments.

FCI Programming Interface

Franka Control Interface (FCI) provides direct access to control algorithms via C++, Python, and Lua scripting. Researchers and integrators can implement custom control strategies without firmware modifications.

Auto Payload Compensation

Automatic load mass and inertia identification with real-time compensation. The robot autonomously detects tool weight distribution and adjusts dynamics parameters, eliminating manual calibration procedures.

1000Hz Control Loop

1kHz control frequency ensures responsive force control with minimal latency. The high update rate enables stable contact transitions and smooth force profiles during dynamic operations like grinding or assembly insertion.

EN ISO Safety Compliance

Compliant with EN ISO 10218-1, EN ISO 13849-1 PL d/Cat.3, EN ISO 12100, and EN 60204-1 safety standards. Comprehensive safety functions ensure safe human-robot collaboration in shared workspaces.

12.1" Touch Teach Pendant

High-resolution 1280×800 touchscreen teach pendant supports graphical programming, script editing, and real-time force visualization. Intuitive interface reduces programming time for complex force-controlled tasks.

Scalable I/O Configuration

Standard 16DI/16DO with 2AI/2AO, expandable to 32 or 48 I/O channels. Flexible configuration accommodates complex sensor arrays, multi-gripper setups, and peripheral device integration.

Technical Specifications

Diana 7 Basic Parameters

Payload7 kg

Arm Reach923 mm

Repeatability±0.05 mm

DOF7 (Redundant)

Weight28-29 kg

ProtectionIP50

Max TCP Speed2.4 m/s

Force Control

Force Accuracy0.5 N

Control Frequency1000 Hz

Control ModeImpedance / Force

SensorsJoint Torque (per axis)

Payload IDAutomatic

Joint Performance

J1-J4 Speed170-180°/s

J5-J7 Speed210-270°/s

J1 Range-179°~+179°

J2 Range-90°~+90°

J4 Range0°~+175°

J5-J7 Range-179°~+179°

Diana 7 MED (Medical)

Payload7 kg

Arm Reach916.5 mm

Repeatability±0.03 mm

Force Accuracy0.5 N

Torque Accuracy0.1 Nm

CertificationIEC 60601-1

Controller431×365×174mm, 13.5kg

Controller & Communication

Parameter	Specification
Controller Dimensions	483×377×192 mm
Controller Weight	16-18 kg
Power Supply	110-240VAC, 50/60Hz
Control Frequency	1000 Hz
Standard I/O	16 DI/16 DO, 2 AI/2 AO
Optional I/O	32 or 48 channels
Communication Protocols	Modbus-TCP, TCP/IP, RS232
Programming Interface	FCI (C++/Python/Lua), Graphical, Script
Teach Pendant	12.1" Touchscreen, 1280×800
Tool Flange	ISO 9409-1-50-4-M6
Operating Temperature	0~50°C
Operating Humidity	90% RH (non-condensing)
Safety Standard	EN ISO 13849-1:2023 PL d/Cat.3

Industry Applications

Precision Assembly & Insertion

Connector peg-in-hole with force guidance
Gear and bearing assembly with compliance
Electronic component insertion (press-fit)
Automotive powertrain assembly

Surface Finishing

Adaptive deburring with constant force
Polishing and grinding with force control
Surface quality inspection (compliant probing)
Edge blending and chamfering

Medical & Surgical Robotics

Orthopedic surgical assistance (Diana 7 MED)
Neurosurgery positioning and guidance
Dental surgery automation
Ultrasound diagnostic scanning
Rehabilitation therapy robots

Research & AI Development

Reinforcement learning for manipulation
Human-robot interaction research
Compliant motion planning algorithms
VCopiloting and teleoperation studies

Diana 7