Table 1 DH parameters for the overall robotic arm with three adjacent intersecting rotational axes at the end-effector.
From: Innovative inverse kinematics algorithm for 6-DOF robotic manipulators with offset wrists
i | ai(mm) | αi(rad) | di(mm) | θi(rad) |
|---|---|---|---|---|
1 | 0 | 0 | d1 | θ1 |
2 | a2 | -π/2 | d2 | θ2 |
3 | a3 | 0 | d3 | θ3 |
4 | a4 | −π/2 | d4 | θ4 |
5 | 0 | π/2 | 0 | θ5 |
6 | 0 | −π/2 | 0 | θ6 |
