# How to get the geometry of a ABB robot?

**URL:** <https://tech-community.robotics.abb.com/t/how-to-get-the-geometry-of-a-abb-robot/5800>\
**Category:** Robot Controller\
**Created:** [November 7, 2013, 1:50pm UTC](https://tech-community.robotics.abb.com/t/how-to-get-the-geometry-of-a-abb-robot/5800 "2013-11-07T13:50:29Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![zjl](https://avatars.discourse-cdn.com/v4/letter/z/f475e1/32.png) [@zjl](https://tech-community.robotics.abb.com/u/zjl)\
**Post date:** [November 7, 2013, 1:50pm UTC](https://tech-community.robotics.abb.com/t/how-to-get-the-geometry-of-a-abb-robot/5800/1 "2013-11-07T13:50:29Z")

</div>

I want to simulate a ABB robot.but how can I get the parameters of the robot’s geometry?the kinematics parameters.  
for example,the ABB IRB360/1 delta robot.How can I get “f,e,rf,re”?