Table 2 Ideal DH parameters
From: An optimization technique for identifying robot manipulator parameters under uncertainty
Joint | \(d_i\) (m) | \(\theta _i\) | \(L_i\) (m) | \(\alpha _i\) |
|---|---|---|---|---|
1 | 0.076 | \(\theta _1\) | 0 | 90° |
2 | 0 | 90° + \(\theta _2\) | 0.4 | 0° |
3 | −0.012 | \(\theta _3\) | 0 | 90° |
4 | 0.3543 | 0° | 0 | 90° |