Official websites use .gov
A
.gov website belongs to an official
government organization in the United States.
Secure .gov websites use HTTPS
A lock (
) or https:// means you've safely
connected to the .gov website. Share sensitive
information only on official, secure websites.
D-H parameters of robot HA-06 (units: length [m], angle: [deg]; - : not exist, × : not select).
| i | αi -1 | ai- 1 | βi - 1 | bi -1 | di | θi |
|---|---|---|---|---|---|---|
| 1 | 0 | 0 | 0 | 0 | 0.36 | θ1 |
| 2 | 90 | 0.200 | - | - | 0 | θ2 |
| 3 | 0 | 0.560 | 0 | - | 0 (×) | θ3 |
| 4 | 90 | 0.130 | - | - | 0.620 | θ4 |
| 5 | −90 | 0.0 | - | - | 0.0 | θ5 |
| 6 | 90 | 0.0 | - | - | 0.1 | θ6 (×) |
| 7 | - | 0.2 | - | - | 0.1 | φ |
