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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

Notes

See also

SerialLink, mdl_fanuc10l, mdl_m16, mdl_motormanhp6, mdl_S4ABB2p8, mdl_puma560


 

© 1990-2014 Peter Corke.