A0509S

The A0509S is the force-sensing build of Doosan Robotics' smallest agile cobot: 5 kg over 900 mm, with a force/torque sensor at the wrist. Doosan describes the A-SERIES sensor as twice the performance of the one in its earlier cobots, and points the S builds at assembly, insertion, polishing and any task where the robot has to feel the contact rather than only hold a position. The number worth pausing on is the repeatability. Doosan declares 0.03 mm here against 0.05 mm for the plain A0509 with identical payload and reach. A wrist sensor does not move the arm more accurately, so either the S build differs mechanically in ways the maker does not describe, or the two figures were measured differently. One size up the difference vanishes entirely - the A0912 and A0912S are both declared at 0.05 mm - which makes the 5 kg pair look less like a design decision and more like an inconsistency in the published data. This catalogue reports the maker's figures and says plainly that they do not add up. The A-SERIES is Doosan Robotics' "agile" line: the family the Korean maker positions on speed and price-to-performance rather than payload. Doosan claims twice the axis speed of its earlier cobots, a force/torque sensor with twice the performance, safety algorithms that go beyond current-based collision detection, and around 10 percent faster cycle work on average. Every size in the line comes in three builds - the plain model, an S version with the wrist force/torque sensor, and an F version certified by NSF for food work. Options are shared across the line: a white or a navy finish (navy is the anti-stain build for dirty environments), the compact CS-04 DC controller meant for mounting on AGV and AMR platforms, a Cockpit direct-teaching button, and a choice of Smart Pendant or full Teach Pendant. Programming runs on the DART platform. Doosan does not publish the arm's own mass, per-axis speeds or a list price on the product page, and this catalogue leaves those fields empty rather than take numbers from distributor listings. Specifications come from Doosan Robotics' own product pages and from the data behind the maker's product comparison tool. The year in this profile is a lower bound, not a launch date: Doosan does not date the A-SERIES anywhere, and 8 August 2020 is the earliest confirmation that the model's card existed in the maker's own catalogue (internet archive snapshot).

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