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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 \(\theta _6\)