The Lightweight robot 4+ from KUKA Roboter is a 7 DoFs lightweight arm. The weight of the arm is 14 kg and it can carry a payload of 14 kg. The high number of DoFs makes the redundancy a key factor for this robot. With its in-built sensitivity, achieved by means of the integrated sensors, the LWR 4+ is ideally suited to handling and assembly tasks. It is made of:

• one robotic arm;
• one controller;
• one teaching pendant.

It can be programmed using its internal interface or it can be controlled using a computer over an Ethernet connection through the Fast Research Interface.