The IRB 120 is ABB’s smallest six-axis industrial robot — 3 kg payload, 580 mm reach, and light enough (25 kg) to bolt to a benchtop rather than a factory floor. It’s a common sight in university robotics labs and light-assembly cells precisely because of that scale: full six-axis industrial kinematics, in a package a single person can lift.
The mechanism
Six revolute joints in series give the arm its six degrees of freedom, all independently actuated — no mimic joints or accessory mechanisms are part of this description.
About these files — read before importing
ABB does not publish a URDF for the IRB 120. This links directly to ros-industrial/abb, the ROS-Industrial community project that maintains description and driver packages for industrial robots ROS needs to talk to. It’s a careful third-party engineering model, not a file ABB itself ships or verifies — treat it as accurate enough to visualize and plan around, and check ABB’s own data sheets before relying on it for anything load-bearing.
ARMOR links directly to that repository rather than re-hosting anything, so what you get is exactly what ROS-Industrial publishes, unmodified.