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# mdl_irb140

Create model of ABB IRB 140 manipulator

MDL_IRB140 is a script that creates the workspace variable robot which describes the kinematic characteristics of an ABB IRB 140 manipulator using standard DH conventions.

Also define the workspace vectors:

qz | zero joint angle configuration
qr | vertical 'READY' configuration
qd | lower arm horizontal as per data sheet

## Reference

- "IRB 140 data sheet", ABB Robotics.
- "Utilizing the Functional Work Space Evaluation Tool for Assessing a System Design and Reconfiguration Alternatives" A. Djuric and R. J. Urbanic

## Notes

- SI units of metres are used.
- Unlike most other mdl_xxx scripts this one is actually a function that behaves like a script and writes to the global workspace.

## See also

SerialLink, mdl_fanuc10l, mdl_m16, mdl_motormanhp6, mdl_S4ABB2p8, mdl_puma560

© 1990-2014 Peter Corke.