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 | \(\theta _6\) |