Interbotix X-Series arms are made for education and research with support for
ROS + ROS2 (Melodic, Noetic, & Galactic), Moveit, Gazebo and MATLAB® as well as demos and instructional
videos to help get you up and running with your platform in under an hour. The X-Series offers a variety
of different models to choose from with options in 4, 5, and 6 degrees of freedom and payloads from
50-750g. All of the X-Series arms operate on the same central open-source code repository. Perfect for
the classroom, these platforms are ideal for applications such as vision-based pick & place, machine
learning and artificial intelligence.
ROS + ROS2 packages for Melodic, Noetic, and Galactic on Ubuntu Linux 18.04
and 20.04 make it easy to get started with the arms. Packages include full meshes and URDFs (including
accurate inertial models for the links), driver nodes that control the physical robot arm and publish
joint states, as well as Gazebo and MoveIt support. Examples are also included to show users how the
core packages work.
Out-of-the box visual demonstrations in Rviz allow new users experimentation
with various planning algorithms around obstacles via motion planning, manipulation, 3D perception,
kinematics, control and navigation.
Gazebo offers the ability to accurately and efficiently simulate populations of
robots in complex indoor and outdoor environments.
MATLAB® combines a desktop environment tuned for iterative analysis and
design processes with a programming language that expresses matrix and array mathematics directly.
In-depth documentation, tutorial videos and more!
Contains configuration files, launch files, and
example worlds to simulate the X-Series arms in Gazebo. Also has position and
trajectory controllers with tunable PID gains so that ROS can control the arms.
Control any X-Series arm using a Bluetooth joystick
controller. This package can be used to control the movements of any X-Series
robotic arm using a SONY PS3/PS4 controller or Microsoft Xbox360 controller
(untested) via Bluetooth.
Contains the necessary config files to get any of
the X-Series arms working with MoveIt, the standard motion planning framework
for ROS. This package also provides interfaces to work with the arms in a Gazebo
Dual Arm Control
Enables the control of multiple X-Series arms using
scripts. Configuration files are provided that allow for 2 or more arms to be
controlled simultaneously using multithreading techniques.
Contains the necessary config and launch files to
get any of the many Interbotix X-Series arms working with the perception
pipeline, allowing for the arms to interact with depth cameras such as the
Contains a small API that allows a user to command
desired end-effector poses to an Interbotix arm. Also has a modified version of
the Move Group Python Interface Tutorial script for users to understand the
basics of MoveIt Commander.
Arm Diagnostic Tool
Analyze the state of one joint or any number of
joints over time while running through a script, or while playing back a ROS bag
file. Visualize different parameters such as temperature, position, and effort
A way to test 'pwm' or 'current' PID gains when
operating the arm in either 'pwm' or 'current' mode. The package moves the robot
through a series of poses as a way to test the effects of different gains and
Dual Arm Joystick
Control two X-Series arms using a single joystick
controller. Builds on top of the Joystick and Dual Control packages and contains
only configuration and launch files, an example of ROS's modularity.
Imagine that you have two (or more) Interbotix arms
with the same number of joints. What the xsarm_puppet allows you to do is to
manually manipulate one of the arms and watch as the motion is repeated in real
time on the second robot.
Record and Playback
Untorque your arm and record manual movements to a
ROS bag file. Play back the same motions as many times as you want.
Showcase of examples for the Interbotix Python Arm
Module. We made Python wrappers for the X-Series arm that allow users to control
their arm without writing a single line of ROS code Module.
High-performance networked actuators featuring fully integrated DC Motor +
Reduction Gear + Controller and driver in a compact DC servo module. The X-Series actuators offer higher
torque, more efficient heat dissipation and better durability all at a smaller form factor over previous
DYNAMIXEL servos. The X-Series motors offer multiple feedback and control methods including PID Gain
Control, Profile Control and Data Feedback.
The Interbotix vision kit is a quick and simple way to add vision processing to any
of the Interbotix X-Series arms. Identify and sort objects by color, point cloud size or position. Use
the manipulator to automate tasks based on visual input. Perfect for pick & place, AI and machine
The X-Series gripper carriages are designed for users to quickly and
easily change the gripper fingers for different projects. CAD files for the gripper are available
for download. If you can design and 3D print, the customization is endless.
Videos designed to get users familiarized with important concepts quickly,
demos and videos are available for: Gazebo simulation, Moveit motion planning and API, perception
pipeline configuration, Python demos and more.
ViperX 300 Robot Arm 6DOF
ViperX 300 Robot Arm
ViperX 250 Robot Arm
WidowX 250 Robot Arm 6DOF
WidowX 250 Robot Arm
WidowX 200 Robot Arm
ReactorX 200 Robot Arm
ReactorX 150 Robot Arm
PincherX 150 Robot Arm
PincherX 100 Robot Arm
Give us a call: 866-478-3731
or fill out the form and one of our experts will be happy to follow up!