Table 2 D-H parameter table for seed noid R7F.

From: Tracking control of humanoid manipulator using sliding mode with neural network and disturbance observer

J

αi

ai

di

θi

1

0°

0

0.05978

θ1

2

− 90°

0.028046

0

θ2

3

− 90°

0.01

0.2895

θ3

4

− 90°

− 0.035

0

θ4

5

90°

0.035

0.2655

θ5

6

− 90°

0

0

θ6

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