In this collection of 3 academic works, it is presented through a practical application with the ABB IRB 4600-40 manipulator, all the content related to modeling manipulators. This team work was divided into three parts. In the first part of the work I collaborated with the development of the wireframe, frame assignment, construction of the Denavit-Hartenberg table and obtaining the homogeneous transformation matrix. In part 2 of the work, I helped in the inverse kinematic modeling by the geometric method and in the kinematic modeling of the robot. Finally, in the last part of the work, I worked on the development of the dynamic modeling of the manipulator through the application of the Euler-Lagrange method. The most interesting thing about this work is that the academic concepts were applied in a commercial manipulator.