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Table 5.
DH table for 6-DOF human arm.
| i | θi | αi | ai | di |
|---|---|---|---|---|
| 1 | q1 | 0 | 0 | |
| 2 | q3 | 0 | 0 | |
| 3 | q3 | 0 | −L1 | |
| 4 | q4 | 0 | 0 | |
| 5 | q5 | 0 | L2 | |
| 6 | q6 | 0 | L3 | 0 |