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Table 1 Denavit–Hartenberg parameters for the robotic arm

From: Vision-aided brain–machine interface training system for robotic arm control and clinical application on two patients with cervical spinal cord injury

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a i

a i

d i

\( \theta_{i} \)

1

0

π/2

0

\( \theta_{1} \)

2

\( a_{2} = 0.41\;{\text{m}} \)

0

0

\( \theta_{2} \)

3

\( a_{3} = 0.44\;{\text{m}} \)

0

0

\( \theta_{3} \)