The ABB IRB 14000 YuMi is a dual-arm collaborative robot designed for small-part assembly, precision manipulation, and safe human-robot interaction.
At the RAIL Lab, YuMi is primarily used for research on manipulation, perception, robot learning, and interactive robotic systems.
🌟 Key Details
- Manufacturer: ABB Robotics
- Model: IRB 14000 YuMi
- Robot Type: Dual-arm collaborative robot (COBOT) designed for safe human-robot interaction
- Degrees of Freedom: 7 DOF per arm (14 axes total)
- Payload: ~0.5 kg per arm
- Reach: ~559 mm
- Repeatability: ~±0.02 mm
- Safety: Intrinsically collaborative design, rounded geometry, limited force operation
- Controller: IRC5C compact robotic controller (supports MultiMove & dual-arm coordination)
- Programming Interfaces:
- RAPID (ABB native robot language)
- ROS support via
kth-ros-pkg/yumi
- Python control via Yumipy (
galou/robotware6_06 fork)
- Network Interface: Ethernet (Service Port XP23) for control & communication
- Operating Modes:
- Manual Mode (slow/jog/teaching)
- Auto Mode (full-speed program execution, ~10× faster)
- Ideal Use Cases: Precision assembly, manipulation research, vision-guided robotics
🛠️ Why It’s a Lab Favorite
- All-Terrain Robustness: Handles rocky ground, mud, and slopes up to 30° with ease
- High Payload: Supports heavy sensors and manipulator arms for custom experiments
- ROS-Ready: Includes tutorials for mapping, SLAM, AMCL, Gmapping, and more
- Full 3D Perception: VLP‑16 enables 360° point clouds—great for obstacle avoidance, mapping, and visual odometry
Useful Official Documentation
Recent Research Using YuMi