Table 1 DH parameters for the forward kinematics.
From: Autonomous object tracking with vision based control using a 2DOF robotic arm
Joint-1 | |
 Link Length (\(a_1\)) | 2.3 inches (length from base to Joint-1.) |
 Link Twist (\(\alpha _1\)) | 90° (since \(z_1\) and \(z_2\) are perpendicular) |
 Link Offset (\(d_1\)) | 1.15 inches (distance from joint-1 to joint-2, along z-axis) |
 Joint Angle Offset (\(q_1\)) | Rotates about \(z_0\) (pan movement) |
Joint-2 | |
 Link Length (\(a_2\)) | 2.1 inches (length from Joint-2 to the end-effector.) |
 Link Twist (\(\alpha _2\)) | 0° (since \(z_1\) and \(z_2\) are parallel) |
 Link Offset (\(d_2\)) | 1.15 inches (distance from joint-2 to end-effector, along z-axis) |
 Joint Angle Offset (\(q_2\)) | Rotates about \(z_1\) (tilt movement) |
