Table 1 Denavit–Hartenberg parameters for UR3
From: An automated fruit harvesting robot by using deep learning
Link | \(a_{i}\,(\text {m})\) | \(\alpha _{i}\,(\text {rad})\) | \(d_{i}\,(\text {m})\) | \(\theta _{i}\) |
|---|---|---|---|---|
1 | 0 | \(\frac{\pi }{2}\) | 0.1519 | \(\theta _1\) |
2 | \(-\)0.24365 | 0 | 0 | \(\theta _2\) |
3 | \(-\)0.21325 | 0 | 0 | \(\theta _3\) |
4 | 0 | \(\frac{\pi }{2}\) | 0.11235 | \(\theta _4\) |
5 | 0 | \(-\frac{\pi }{2}\) | 0.08535 | \(\theta _5\) |
6 | 0 | 0 | 0.08190 | \(\theta _6\) |