Table 3.

Specifications of robotic arm.

Items	Specifications
Range constraints of the joints	Left arm	Shoulder	Joint 1	Pitch	−20°~20°
			Joint 2	Roll	−5°~10°
		Elbow	Joint 3	Pitch	−10°~60°
	Right arm	Shoulder	Joint 1	Pitch	−20°~20°
			Joint 2	Roll	−5°~10°
		Elbow	Joint 3	Pitch	−10°~60°
	Steering wheel			−90°~90°