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# mdl_irb140

Create model of ABB IRB 140 Mico manipulator

    mdl_irb140

Script creates the workspace variable mico 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

- 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, Revolute, mdl_puma560, mdl_twolink

© 1990-2014 Peter Corke.