---
title: "Products & Platform Architecture"
description: "Discover the MujinOS platform: one software platform to control, orchestrate, and scale all your robots with no code required, backed by the industrial MujinController hardware appliance."
sidebar:
  order: 2
---

Mujin delivers intelligent automation through **MujinOS** — *one software platform to control, orchestrate, and scale all your robots with no code required.* 

By decoupling high-level physical AI decision making from physical machine hardware, MujinOS provides unified, vendor-agnostic control across robotic arms, automated guided vehicles (AGVs), and automated warehouse equipment.

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## MujinOS Platform Architecture [#architecture]

The diagram below illustrates the complete functional architecture of MujinOS — from high-level warehouse order allocation down to real-time joint-level physical control:

![MujinOS Platform Architecture](/diagrams/mujinos-architecture.png)

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## MujinOS Products & Applications [#products-applications]

### Mujin Robot Controller (Intelligent Autonomous Control) [#robot-controller]

The **Mujin Robot Controller** governs the closed-loop perception and execution of industrial robotic arms through a three-stage real-time pipeline:

<Frame caption="Mujin Robot Controller: Closed-loop real-time Machine Intelligence pipeline orchestrating perception, motion planning, and hardware actuation.">
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**Depalletizing**

High-speed unloading of single-SKU, mixed-SKU, and completely random pallets without pre-registered CAD models.

**Palletizing & Mixed-SKU**

Dynamic pallet generation with automatic pattern optimization and weight distribution.

**Depalletizing to Palletizing**

Direct cross-dock transfer and repalletization without intermediate conveyor or staging buffers.

**Piece Picking**

High-variety each-picking from totes and bins for e-commerce, cosmetics, and pharmaceuticals.

**Bin Picking**

Random bulk part extraction from industrial bins without pre-sorted mechanical feeding.

### Real-Time Digital Twin [#digital-twin]

MujinOS maintains a high-fidelity 3D virtual environment operating in continuous lockstep with live factory hardware.

**Motion Plan Validation**

Verifies kinematic reachability, end-effector collision clearance, and approach trajectory feasibility in the digital twin before physical execution.

**State Synchronization**

Mirrors the physical states of robot arms, pallets, conveyors, and safety interlocks in real time.

**Zero-Downtime Reconfiguration**

Test new box sizes, pack patterns, and cell modifications virtually without taking live production offline.

### Mujin WES (Warehouse Execution System) [#wes]

**Mujin WES** coordinates high-level material flow, inventory allocation, and system-wide order throughput across the facility, translating enterprise orders into real-time task instructions for robot arms and mobile fleets.

**Productivity & Throughput**

Dynamically balances workloads across receiving, buffer storage, and outbound lines to eliminate bottlenecks.

**Inventory & Location**

Tracks real-time pallet locations, SKU slotting, and buffer states without manual inventory reconciliations.

**Order Allocation & Priority**

Automatically schedules high-priority pick orders, dispatching real-time instructions to robotic cells and AGV fleets.

### Mujin Fleet Manager (AGV Fleet Control) [#fleet-manager]

The **Mujin Fleet Manager** directs the coordinated movement of automated guided vehicles (AGVs) alongside fixed material handling systems.

**Optimal Route Planning**

Calculates collision-free and deadlock-free multi-vehicle paths in real time, dynamically navigating traffic congestion and floor obstacles.

**Fleet Control & Dispatch**

Matches mobile robots to transport missions based on battery level, location, and payload capacity.

**Standard Transport Modules**

Supports Inter-process transport, Goods-to-Person (GTP) mobile racks, and automated inbound/outbound storage.

### Mujin Portal & Operational Dashboard [#portal]

MujinOS provides operational dashboards and secure diagnostic tooling for supervisors and maintenance engineers:

**Operational Dashboard**

Live telemetry tracking order progress, equipment productivity, takt time pacing, equipment states (Running/Idle/Fault), location fill rates, and anomaly detection.

**Secure Remote Maintenance**

Encrypted, enterprise-grade connectivity minimizing on-site visits through secure remote telemetry collection, software updates, and engineering support.

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## Hardware Appliance: MujinController [#mujincontroller]

While MujinOS provides the intelligence software layer (autonomous planning and perception), the ruggedized **MujinController** cabinet delivers deterministic physical execution on the factory floor:

**Industrial Real-Time Execution**

Sub-millisecond deterministic Linux computing nodes executing joint-level trajectories with ultra-low jitter.

**Certified Functional Safety**

Category 3 PLd safety architecture (ISO 13849-1 / IEC 62061) and UL 61010 certification with hardware emergency stop interlocks and safety light curtains.

**Industrial Fieldbus Integration**

Native master/slave connectivity for **EtherNet/IP, PROFINET, Modbus TCP**, and high-density digital/analog I/O.

**Ruggedized Enclosure**

Industrial thermal management, vibration damping, and EMC electromagnetic noise immunity built for 24/7 harsh industrial operations.

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## Vendor-Agnostic Equipment Control [#equipment-control]

MujinOS integrates directly with any automated equipment on the factory floor, breaking free from proprietary vendor lock-in:

**Material Handling Equipment**

Seamlessly interfaces with Automated Storage and Retrieval Systems (**AS/RS**), high-speed **conveyors**, **IoT devices**, and **mobile barcode/RFID scanners**.

**Multi-Vendor Robot Arms**

Directly controls robot arms from **Fanuc, Yaskawa, ABB, Kawasaki, and KUKA**, complete with tool changers, mechanical/vacuum **grippers**, and **2D/3D vision sensors**.

**Mobile Transport Systems**

Coordinates fleets of Automated Guided Vehicles (**AGV**) and **pallet shuttle systems** through standardized dispatch protocols, integrating seamlessly with robot cells and automated warehouses.

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## Real-World Deployments & Case Study Videos [#case-studies]

The MujinOS and MujinController platform powers 24/7 autonomous production and logistics operations across facilities worldwide. Watch these real-world deployment highlights:

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    <h4 class="text-base font-semibold mb-2">Depalletizing: Matsuda Electric Industrial</h4>
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      <iframe
        src="https://www.youtube-nocookie.com/embed/I3QkeGhEHhM"
        title="Mujin Case Study: Matsuda Electric Industrial Mixed Container Sorting & Depalletizing"
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      Industry-first mixed returnable container depalletizing and sorting. High-speed recognition and handling across variable totes without CAD models or SKU pre-registration.
    </p>
  </div>

  <div>
    <h4 class="text-base font-semibold mb-2">Palletizing: PALTAC Corporation</h4>
    <div class="aspect-video overflow-hidden rounded-lg border border-border shadow-sm">
      <iframe
        src="https://www.youtube-nocookie.com/embed/qdtR0UThHHU"
        title="Mujin Case Study: PALTAC Corporation Mixed-SKU Palletizing"
        class="w-full h-full"
        allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture"
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    <p class="text-xs text-muted-foreground mt-2">
      High-volume wholesale logistics hub (RDC Saitama). Dynamically palletizes diverse cartons with mathematically optimized packing density and weight distribution.
    </p>
  </div>

  <div>
    <h4 class="text-base font-semibold mb-2">Piece Picking: ASKUL Corporation</h4>
    <div class="aspect-video overflow-hidden rounded-lg border border-border shadow-sm">
      <iframe
        src="https://www.youtube-nocookie.com/embed/Pq_pRDw1BWw"
        title="Mujin Case Study: ASKUL Corporation Piece Picking"
        class="w-full h-full"
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      Mega e-commerce fulfillment center (ASKUL Value Center Kansai). Autonomous high-speed each-picking across vast SKU catalogs directly from storage totes.
    </p>
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  <div>
    <h4 class="text-base font-semibold mb-2">AGV & Case Picking Integration: Toden Logistics</h4>
    <div class="aspect-video overflow-hidden rounded-lg border border-border shadow-sm">
      <iframe
        src="https://www.youtube-nocookie.com/embed/SMPin1JuTM0"
        title="Mujin Case Study: Toden Logistics Automated Case Picking"
        class="w-full h-full"
        allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture"
        allowfullscreen
      />
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    <p class="text-xs text-muted-foreground mt-2">
      Power infrastructure logistics automation. Seamless orchestration of heavy-payload case picking coupled with coordinated mobile transport robots.
    </p>
  </div>
</div>

**[Explore All Real-World Case Studies](https://www.mujin.co.jp/videos/)**

Discover more industrial robotic deployments and real-world warehouse automation case studies on Mujin's official video showcase.