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Table 1 D-H parameters of system

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