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Table 1 D-H parameter of the manipulator

From: Kinematic analysis and fault-tolerant trajectory planning of space manipulator under a single joint failure

i a i−1/mm α i−1 d i /mm θ i /°
1 0 −90 0 90
2 a2 0 0 0
3 0 90 0 90
4 0 −90 d 4 0
5 0 90 0 0
6 0 0 d 6 0