Working with MoveIt! configuration of ABB robots

We will work with the motion planning of the popular ABB industrial robot models such as IRB 2400 and IRB 6640. The following are the images of these two robots and their specifications.

Figure 11: ABB IRB 2400 and IRB 6640

The arm specification of the IRB 2400-10 and 6640-130 models are given in the following table:


IRB 2400-10

IRB 6640-130

Working radius

1.55 m

3.2 m


12 kg

130 kg


380 kg

1310-1405 kg


723x600 mm

1107 x 720 mm



To work with ABB packages, clone the ROS packages of the robot into the catkin workspace. ...

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