Table 1 DH parameters of snake-like model
n | Link id | Link length (a), (mm) | Twist angle (∝), (rad) | Link offset (d) | Joint angle (θ) |
|---|---|---|---|---|---|
1 | 1 | 53.12 | π/2 | 0 | θ 1 |
2 | 11 | −π/2 | 0 | θ 2 | |
2 | 1 | 53.12 | π/2 | 0 | θ 1 |
2 | 11 | −π/2 | 0 | θ 2 | |
3 | 53.12 | π/2 | 0 | θ 3 | |
4 | 11 | −π/2 | 0 | θ 4 | |
n | 1 | 53.12 | π/2 | 0 | θ 1 |
… | … | … | … | … | |
2n | 11 | −π/2 | 0 | θ 2n |