Table 1 The nominal parameters of robot
Joint | a(mm) | α(rad) | d(mm) | θ(rad) |
|---|---|---|---|---|
1 | 0.00 | 0.00 | 0.00 | 0.00 |
2 | 100.00 | −1.57 | 0.00 | 0.00 |
3 | 290.00 | 0.00 | 0.00 | 0.00 |
4 | 121.00 | −1.57 | 310.00 | 0.00 |
5 | 0.00 | 1.57 | 0.00 | 0.00 |
6 | 0.00 | −1.57 | 0.00 | 0.00 |
Position of maker (mm): (40.00, 0.00, 160.00) | ||||