DY' configuration</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> qd</td> <td>lower arm horizontal as per data sheet</td></tr>
</table>
<h2>Reference</h2>
<ul>
  <li>"IRB 140 data sheet", ABB Robotics.</li>
  <li>"Utilizing the Functional Work Space Evaluation Tool for Assessing a
System Design and Reconfiguration Alternatives"
A. Djuric and R. J. Urbanic</li>
</ul>
<h2>Notes</h2>
<ul>
  <li>SI units of metres are used.</li>
  <li>Unlike most other mdl_xxx scripts this one is actually a funct