Table 1 Denavit-Hartenberg parameters of the ED-Scorbot
From: Rapid learning with phase-change memory-based in-memory computing through learning-to-learn
Joint | θi | di[cm] | ai[cm] | αi |
|---|---|---|---|---|
1 | \(\frac{-23.6\pi }{180}\) | 35.85 | 5.0 | π/2 |
2 | \(\frac{22\pi }{180}\) | −9.8 | 30 | π |
3 | \(\frac{22.4\pi }{180}\) | 6.5 | 35 | 0 |
4 | 0 | 0 | 22 | 0 |
