Table 1 Robot MDH Parameters.

From: Tracking control of industrial manipulator based on adaptive RBF neural network with local model approximation

Joint

Link parameters

i

ai−1(m)

αi−1(°)

di(m)

θi(°)

Joint range

\({{\mathbf{v}}_{i\hbox{max} }}\)

1

0

0

d1(0.4865)

θ1(0°)

[1800~−1800]

1800/s

2

a1(0.15)

α1(−90°)

0

θ2(−90°)

[1200~−900]

1800/s

3

a2(0.7)

α2(0°)

0

θ3(0°)

[650~−2450]

1850/s

4

0

α3(−90°)

d4(0.6)

θ4(0°)

[2000~−2000]

3850/s

5

0

α4(90°)

0

θ5(0°)

[1150~−1150]

4000/s

6

0

α5(−90°)

d6(0.065)

θ6(0°)

[4000~−4000]

4600/s

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