The M1013 is Doosan’s mid-range collaborative arm — a 10 kg payload, 1,300 mm reach 6-axis cobot built for assembly and machine tending in electronics and automotive production lines. Every joint carries its own torque sensor, letting the arm register unexpected contact directly rather than only through vision or external sensors — the same collaborative-safety approach that defines the whole cobot category.
The mechanism
Six revolute joints in series form a textbook 6-axis serial arm — no mimic joints, no closed kinematic loops, every movable joint an independent actuator, matching Doosan’s own “6-axis” naming exactly. Real, non-zero mass and inertia are declared for every link.
About these files — read before importing
This links directly to the official doosan-robot2 repository, published under Doosan Robotics’ own GitHub organization, unmodified. Unlike most entries in this gallery, the URDF here is not expanded from xacro at import time — Doosan’s own repository already commits the fully-expanded URDF (autogenerated from their internal xacro source and checked in as-is), so Open in ARMOR downloads exactly what Doosan publishes, verbatim.