M-File Help: mdl_irb140 View code for mdl_irb140

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

System Design and Reconfiguration Alternatives"
A. Djuric and R. J. Urbanic

Notes

See also

SerialLink, Revolute, mdl_puma560, mdl_twolink


 

© 1990-2014 Peter Corke.