Table 2 D-H parameters of the first six degrees of freedom
From: Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions
Link | Joint Variable | \({r}_{i}\) | \({\alpha }_{i}\) | \({d}_{i}\) | \({\theta }_{i}\) | Range |
|---|---|---|---|---|---|---|
1 | \({\theta }_{1}\) | 0 | − 90° | \({d}_{1}\) | \({\theta }_{1}\) | − 80° to 80° |
2 | \({\theta }_{3}\) | \({d}_{2}\) | − 180° | 0 | \({\theta }_{3}\)− 180° | 0° to 180° |
3 | \({\theta }_{3}\) | 0 | − 90° | \({d}_{3}\) | \({\theta }_{3}\)− 90° | 0° to 180° |
4 | \({d}_{4}\) | 0 | 0° | \({d}_{4}\) | \(0\) | 0 m to 0.4 m |
5 | \({\theta }_{5}\) | 0 | − 90° | \({d}_{5}\) | \({\theta }_{5}\) | 0° to 360° |
6 | \({\theta }_{6}\) | \({d}_{6}\) | 90° | 0 | \({\theta }_{6}\)− 90° | − 90° to 90° |