The ABB IRB 140 is a 6-axis industrial robot, with a payload of 6 kg, designed specifically for manufacturing industries that use flexible robot-based automation. The robot is operated through the IRC5 controller, that offers state-of-the-art capabilities for motion planning and control. The controller can be interfaced to an external PC where algorithms are executed that interact in real-time with the software of the robotic controller. Within MERLIN, the robot is mainly used for studies on the control of human-robot interaction.