UR3e vs Doosan A0509s: Small Force-Sensing Cobot Comparison
Updated: 9 hours ago
IN A NUTSHELL
🔎 THE KEY DIFFERENCE Doosan A0509s has the higher stated load capacity and longer stated reach. Those figures help shortlist it for heavier loads or wider layouts, but do not prove a faster production cycle. |
→ CONSIDER Universal Robots UR3e Consider it when its stated load and reach already cover your task and its controls fit your equipment. This article compares 3 kg with a published reach of 500 mm; include the gripper and part in the load. |
→ CONSIDER Doosan A0509s Consider it when additional load capacity and reach matter. This article compares 5 kg with a published reach of 900 mm; include the gripper and part in the load. |
💡 THE TAKEAWAY Check the real tool, movement path and safety assessment before choosing. A collaborative label does not make every task safe without guarding; compare complete installation quotes. |
The Universal Robots UR3e and the Doosan A0509s both include a force/torque sensor for force-controlled work. The UR3e is a compact benchtop arm. The A0509s, the force-sensing version of Doosan's A0509, carries more and reaches further at a lower price.
Quick verdict. The Doosan A0509s offers more capability for less, with 2 kg more payload, 400 mm more reach and a listed price about 13% lower. The UR3e is the better choice for benchtop and in-machine cells, with an 11.2 kg arm and a 3 m/s tool speed.
UR3e and Doosan A0509s at a glance
The UR3e carries 3 kg over 500 mm, repeats to ±0.03 mm and weighs 11.2 kg, with a ±30 N / ±10 Nm force/torque sensor at the tool flange.
The A0509s carries 5 kg over 900 mm, repeats to ±0.03 mm, weighs 21 kg and adds an integrated force/torque sensor to Doosan's A-SERIES design.
Main specification comparison
Specification | Universal Robots UR3e | Doosan A0509s |
Brand | Universal Robots | Doosan |
Listed price | $33,800 | $29,300 |
Payload | 3 kg | 5 kg |
Reach | 500 mm | 900 mm |
Repeatability | ±0.03 mm | ±0.03 mm |
Axes | 6 | 6 |
Speed | 3 m/s maximum TCP speed | Over 1 m/s max. TCP speed |
Arm weight | 11.2 kg | 21 kg |
IP rating | IP54 | IP54 |
Controller | UR control box CB 5.5 / CB 5.6 | Doosan Controller with DART Platform; teach pendant optional |
Price comparison
UR3e: listed from $33,800
Doosan A0509s: listed from $29,300
Difference: $4,500
The A0509s costs roughly 13% less
Payload and reach
The A0509s carries 5 kg against 3 kg and reaches 900 mm against 500 mm. For force-controlled tasks spread across a larger fixture or machine, the A0509s covers much more of the cell.
Force sensing and precision
Both robots include force/torque sensing and both publish ±0.03 mm repeatability, so insertion, polishing and screwdriving are possible on either.
Weight and mounting
The UR3e weighs 11.2 kg on a Ø128 mm base, about 10 kg less than the A0509s, which makes it easier to place on a bench or inside a machine. Both can be mounted in any orientation.
Programming and connectivity
The UR3e runs PolyScope and supports PROFINET with PROFIsafe, EtherNet/IP, Modbus TCP and ROS/ROS2.
The A0509s is programmed on the optional teach pendant or on a PC with Doosan's DART Platform. Doosan publishes USB 3.0, RS422/RS485, Modbus TCP and RTU, PROFINET IO, EtherNet/IP and 16 digital inputs and outputs.
Best applications for the UR3e
Benchtop force-controlled assembly
Lab automation and device testing
Robots inside machines
Best applications for the Doosan A0509s
Force-controlled insertion and polishing across larger parts
Screwdriving cells up to 5 kg
Cost-sensitive deployments
UR3e advantages
11.2 kg arm and Ø128 mm base
3 m/s maximum tool speed
PROFIsafe and ROS/ROS2 support
UR3e limitations
3 kg payload and 500 mm reach
Doosan A0509s advantages
About 13% lower listed price
5 kg payload and 900 mm reach
Integrated force/torque sensor
Doosan A0509s limitations
21 kg arm
Final verdict
Choose the Doosan A0509s for force-controlled tasks that need more payload and reach at a lower price. Choose the UR3e for compact benchtop and in-machine cells.
Sources and further reading
Frequently asked questions
Which is cheaper, the UR3e or the Doosan A0509s?
The A0509s is listed from $29,300 and the UR3e from $33,800, a difference of $4,500.
Do both robots have force sensing?
Yes. Both include a force/torque sensor.
Which robot carries more?
The A0509s carries 5 kg and the UR3e 3 kg.
Which robot has the longer reach?
The A0509s reaches 900 mm, 400 mm more than the UR3e.
Which robot is lighter?
The UR3e weighs 11.2 kg and the A0509s 21 kg.
Which robot should I buy?
Choose the A0509s for payload, reach and price. Choose the UR3e for compact benchtop work.
