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# mdl_irb140_mdh

Create model of the ABB IRB 140 manipulator

    mdl_irb140_mod

Script creates the workspace variable irb which describes the kinematic characteristics of an ABB IRB 140 manipulator using modified DH conventions.

Also define the workspace vectors:

qz | zero joint angle configuration

## Reference

- ABB IRB 140 data sheet
- "THE MODELING OF A SIX DEGREE-OF-FREEDOM INDUSTRIAL ROBOT FOR THE PURPOSE OF EFFICIENT PATH PLANNING" Master of Science Thesis, Penn State U, May 2009 Tyler Carter

## See also

SerialLink, mdl_irb140, mdl_puma560, mdl_stanford, mdl_twolink

## Notes

- SI units of metres are used.
- The tool frame is in the centre of the tool flange.
- Zero angle configuration has the upper arm vertical and lower arm horizontal.

© 1990-2014 Peter Corke.