M-File Help: mdl_irb140 | View code for 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 |
SerialLink, mdl_fanuc10l, mdl_m16, mdl_motormanhp6, mdl_S4ABB2p8, mdl_puma560
© 1990-2014 Peter Corke.