Table 3 DH parameters with uncertainties

1

(0.076 + \(\delta d_1\))

\(\delta \theta _1\) + \(\theta _1\)

(0 + \(\delta L_1\))

90° + \(\delta \alpha _1\)

2

(0 + \(\delta d_2\))

90° + \(\delta \theta _2\) + \(\theta _2\)

(0.4 + \(\delta L_2\))

0° + \(\delta \alpha _2\)

3

(−0.012 + \(\delta d_3\))

\(\delta \theta _3\) + \(\theta _3\)

(0 + \(\delta L_3\))

90° + \(\delta \alpha _3\)

4

(0.3543 + \(\delta d_4\))

0°

(0 + \(\delta L_4\))

90°