##040003162852170600005
*
* Compile mechanism for irb920t_6_55_18_r_r01
*
begin COMPONENT irb920t_6_55_18_r_r01
	no_of_joints		4
	no_of_loops		0
	TCP_link_name		link4
	user_TCP :
1	0	0	550	
0	-1	0	0	
0	0	-1	201.5	
0	0	0	1	
	inverse_family	-1
	base_name		link0

	begin LINK link1
		joint_from	link0
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j1
		axis_points	0 0 0 , 0 0 1000
		param_index	0
		joint_type	rot
		user_value	0
		range		-150 150
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link2
		joint_from	link1
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j2
		axis_points	290 0 0 , 290 0 1000
		param_index	1
		joint_type	rot
		user_value	0
		range		-145 145
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link3
		joint_from	link2
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j3
		axis_points	550 0 0 , 550 0 1000
		param_index	2
		joint_type	prism
		user_value	0
		range		-180 0
		max_speed	1000
		max_acceleration	1000
	end;

	begin LINK link4
		joint_from	link3
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j4
		axis_points	550 0 0 , 550 0 -1000
		param_index	3
		joint_type	rot
		user_value	0
		range		-400 400
		max_speed	90
		max_acceleration	90
	end

end
