From: Obstacle avoidance planning of space manipulator end-effector based on improved ant colony algorithm
i | \(\alpha_{i - 1}\) | \(a_{i - 1}\) | d i | θ i |
---|---|---|---|---|
1 | \(- \pi /2\) | 0 | d 1 | θ 1 |
2 | \(\pi /2\) | 0 | 0 | θ 2 |
3 | \(- \pi /2\) | 0 | d 3 | θ 3 |
4 | \(\pi /2\) | 0 | 0 | θ 4 |
5 | \(- \pi /2\) | 0 | d 5 | θ 5 |
6 | \(\pi /2\) | 0 | 0 | θ 6 |
7 | 0 | 0 | d 7 | θ 7 |