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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 |
System Design and Reconfiguration Alternatives" A. Djuric and R. J. Urbanic
SerialLink, Revolute, mdl_puma560, mdl_twolink
© 1990-2014 Peter Corke.