It looks like you are looking to use the pose estimation example for the ABB IRB 1520 robot. However, from my understanding of the list of "robotnames" supported by the "loadrobot" function in the documentation link below, this specific "robotname" is currently unsupported. Please refer to the section on input arguments:
https://www.mathworks.com/help/robotics/ug/estimate-pose-of-fixed-camera-relative-to-robot-base.html
A workaround is to use the "importrobot" function, which can load a "rigidBodyTree" from a Unified Robot Description Format (URDF), XML Macros (Xacro), Simulation Description Format (SDF) file, or a Simscape Multibody model. For more information, refer to the following link:
Another workaround is to create a "rigidBodyTree" object for this robot with custom parameters. Here is a useful discussion thread on the topic:
Hope this helps!
