1><p><span class="helptopic">Create model of ABB IRB 140 manipulator</span></p><p>
MDL_IRB140 is a script that creates the workspace variable irb140 which
describes the kinematic characteristics of an ABB IRB 140 manipulator
using standard DH conventions.

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<p>
Also define the workspace vectors:

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<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> qz</td> <td>zero joint angle configuration</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> qr</td> <td>vertical 'REA