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Universal Robots UR20 · Stack
embodiment · Cobot
checked 1 Sep 2026
Universal Robots UR20
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Eleven canonical layers with cobot labels · layers that do not apply are omitted
Application software / programming
Intelligence
Motion planning
Planning
Vision (if present)
Perception
Servo control / controller
Control
Controller cabinet
Compute
Encoders, F/T, safety
Sensors
Joint modules & reducers
Actuation
End effector / tooling
End effector / payload
Mains power
Power
Links, base
Mechanical