README.md
ABB IRB 14050-0.5/0.5
The ABB IRB 14050 single-arm YuMi is a compact 7-axis collaborative robotic arm developed by ABB for small-parts assembly, electronics handling, inspection and laboratory automation applications. It features a 0.5kg payload, 559mm reach and 0.02mm position repeatability, combining human-safe collaborative operation with high dexterity in compact workspaces.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-168.5° |
168.5° |
0° |
180°/s |
1320°/s² |
| J2 |
-143.5° |
43.5° |
0° |
180°/s |
1320°/s² |
| J3 |
-168.5° |
168.5° |
0° |
180°/s |
1320°/s² |
| J4 |
-123.5° |
80° |
0° |
400°/s |
2900°/s² |
| J5 |
-290° |
290° |
0° |
400°/s |
2900°/s² |
| J6 |
-88° |
138° |
0° |
400°/s |
2900°/s² |
| J7 |
-229° |
229° |
0° |
180°/s |
1320°/s² |
Cartesian Parameters
- Maximum TCP linear speed: 1500mm/s
- Recommended maximum TCP linear acceleration: 11000mm/s²
- Recommended maximum TCP angular speed: 400°/s
- Recommended maximum TCP angular acceleration: 1200°/s²
Notes
- The selected joint and TCP speeds and accelerations are conservative values rather than strict physical actuator limits.