Doosan Cobot H Series

1. Overview

Doosan Robotics launched its first collaborative robot in 2017 and has grown rapidly in markets where heavy-payload cobots are needed — particularly automotive part handling, screw fastening, and machine tending of large CNC machines. The H series (H2515, H2017, H2517) sits above the lighter M and A series and targets applications that exceed the 10–16 kg ceiling of most competitor cobots.

Doosan's engineering background is heavy industry: the parent company Doosan Group builds power plants, construction equipment, and gas turbines. This shows in the H series — the robots are overbuilt for collaborative work, with higher joint torques, a more robust wrist, and standard IP54 protection on all variants.

Distribution outside Korea is handled through a network of integrators and, in North America, through a partnership with Doosan Robotics Americas. Service coverage is less dense than UR or FANUC, which matters for after-sales support decisions.

2. Model Lineup

All three H series models share the same 6-axis architecture and direct-drive joint design. They differ in payload, reach, and maximum joint torque.

The H2517's 1700 mm reach is notably longer than most cobots. At that range a 25 kg payload can service large injection moulding machines or reach across a pallet layer — tasks that would normally require a conventional industrial arm.

3. Direct-Drive Joint Architecture

Most cobots use harmonic drives (strain-wave gearboxes) in each joint to reduce motor speed and amplify torque. Harmonic drives introduce backlash over time, require oil or grease, and have a limited life at high duty cycles. Doosan H series uses direct-drive motors at each joint — the motor shaft connects directly to the link without an intermediate gearbox.

Advantages of Direct Drive

• Zero backlash: No gearbox means no accumulated positional error from gear wear
• High backdrivability: The arm can be pushed manually with very little resistance — useful for hand guiding and compliance tasks
• Lower maintenance: No gear oil changes; joint life is primarily determined by bearing wear
• Better torque transparency: Torque sensors can accurately measure external forces without gearbox friction masking the signal

Trade-offs

• Direct-drive motors are larger and heavier than geared motors at the same output torque — the H series robots are heavier than UR equivalents
• Maximum joint speed is lower than harmonic-drive cobots at equivalent payload
• Higher inertia at the joint means fast point-to-point moves can overshoot without careful tuning

For assembly, screw fastening, and polishing — where force feedback and compliance matter more than raw speed — the direct-drive architecture is a genuine advantage.

4. Compliance Control

Every joint in the H series includes a built-in 6-axis force/torque sensor. This is different from cobots that only sense external forces at the wrist (or not at all). Joint-level sensing gives the controller a full picture of where forces are being applied along the entire arm — not just at the tool.

Practical Compliance Modes

• Admittance control: The arm yields to external forces by a programmable amount — useful for part insertion where a hole must be found by feel
• Impedance control: The arm maintains a target position but with a virtual spring-damper — the robot pushes back against deviations rather than passively yielding
• Force-limited hand guiding: An operator physically moves the arm to teach points; the joint sensors measure the guiding forces and smoothly follow
• Constant force pressing: Maintain a set contact force during polishing or deburring despite surface height variation

Doosan exposes these modes through the DART Platform programming interface without requiring custom code. This makes force-controlled applications accessible to process engineers without robotics PhDs.

5. DART Platform Programming

DART (Doosan Automation Robot Technology) Platform is Doosan's teaching and programming environment. It runs on a dedicated tablet pendant and on a PC software suite.

Key DART Features

• Task Builder: Drag-and-drop block programming for basic pick-and-place, palletizing, and screw-fastening routines — no code required
• DRL (Doosan Robot Language): Python-based text programming for complex logic, loops, and integration with external systems
• Real-time 3D simulation: The pendant shows a live 3D model of the robot arm as it moves — useful for verifying reach before running the real robot
• Compliance waypoints: Force and stiffness parameters can be set directly on individual motion steps in Task Builder
• Hand guiding: Press the wrist button, physically move the arm to the desired pose, release — point is recorded

DRL being Python-based is a significant advantage for manufacturers with in-house software capability. Libraries for vision, PLC communication, and data logging can be imported directly.

Connectivity

Standard I/O: 16 digital inputs, 16 digital outputs, 2 analogue inputs, 2 analogue outputs. Optional fieldbus: EtherNet/IP, PROFINET, EtherCAT. RS-232 and RS-485 serial ports are included for legacy equipment integration.

6. Applications

Heavy Assembly

The H2515's 25 kg payload at 900 mm reach positions it for automotive door panels, engine covers, and large plastic assemblies where UR16e (16 kg) falls short. Direct-drive compliance allows the robot to locate and seat parts without hard fixturing.

Machine Tending — Large CNC

CNC machine tending typically requires opening heavy doors, loading billets weighing 5–15 kg, and pressing start buttons. The H2017's 1300 mm reach and 20 kg payload can service twin-spindle lathes where most cobots cannot reach the far spindle from a single mount point.

Screw Fastening

Built-in compliance control makes the H series well-suited to automated screw driving. The robot can apply a set approach force, locate the screw seat by feel if there is a slight position error, and drive to a torque setpoint. This is harder to achieve reliably with cobots that only have wrist force sensors.

Palletizing

The H2517 at 1700 mm reach can palletize boxes up to 25 kg in a 1200×800 mm pattern when the robot is floor-mounted at the pallet edge. This eliminates a conventional palletizing robot for many SME applications.

Polishing and Deburring

Constant-force compliance mode with a pneumatic or electric spindle attached to the flange allows consistent material removal across cast or forged surfaces with height variation of ±5 mm or more.

7. Competitive Comparison

8. Pricing

Prices as of September 2026. Doosan does not publish list prices; figures above are estimates based on distributor quotes in North America and Europe.