Table 1 D-H parameters of the excavator.
Joint | ai (mm) | di (mm) | αi (°) | θi (°) |
|---|---|---|---|---|
0 | 300 | 450 | 90 | −180 ~ 180 |
1 | 3720 | 0 | 0 | −54.30 ~ 76.73 |
2 | 1615 | 0 | 0 | −150.91~−32.87 |
3 | 1070 | 0 | 0 | −141.95 ~ 28.31 |
Joint | ai (mm) | di (mm) | αi (°) | θi (°) |
|---|---|---|---|---|
0 | 300 | 450 | 90 | −180 ~ 180 |
1 | 3720 | 0 | 0 | −54.30 ~ 76.73 |
2 | 1615 | 0 | 0 | −150.91~−32.87 |
3 | 1070 | 0 | 0 | −141.95 ~ 28.31 |
