From: Automated harvesting by a dual-arm fruit harvesting robot
link | \(a_{i}\)[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 | \(d_{6}\) | \(\theta _6\) |