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Table 1 Denavit-Hartenberg parameters for UR arms

From: Automated harvesting by a dual-arm fruit harvesting robot

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\(a_{i}\)[m]

\(\alpha _{i}\)[rad]

\(d_{i}\)[m]

\(\theta _{i}[rad]\)

1

0

\(\frac{\pi }{2}\)

\(d_{1}\)

\(\theta _1\)

2

\(a_{2}\)

0

0

\(\theta _2\)

3

\(a_{3}\)

0

0

\(\theta _3\)

4

0

\(\frac{\pi }{2}\)

\(d_{4}\)

\(\theta _4\)

5

0

\(-\frac{\pi }{2}\)

\(d_{5}\)

\(\theta _5\)

6

0

0

\(d_{6}\)

\(\theta _6\)