Table 2 Designed coordinate for four arms transfer in {R} (unit: mm)
EPRA | Initialization coordinate (when robot start) | Target coordinates (after arm transfer) |
|---|---|---|
P1 | (540, 399, − 433) | (618, 399, − 433) |
P2 | (298, − 399, − 433) | (618, − 399, − 433) |
P3 | (− 419, 399, − 433) | (− 121, 399, − 433) |
P4 | (− 618, − 399, − 433) | (− 121, 399, − 433) |