Table 1 Forward kinematics of the system (D-H parameters)

1

0

0

335

θ₁

2

$‒\frac{\pi }{2}$

75

0

${\theta }_2-\frac{\pi }{2}$

3

0

270

0

θ ₃

4

$‒\frac{\pi }{2}$

90

295

θ ₄

5

$\frac{\pi }{2}$

0

0

θ ₅

6

$‒\frac{\pi }{2}$

0

296

${\theta }_6+\frac{\pi }{2}$

7

$\frac{\pi }{2}$

0

0

θ ₇ + $\pi$

8

$‒\frac{\pi }{2}$

58

0

θ ₈