Table 1.

Denavit–Hartenberg parameters of the manipulator.

	${\mathit{\theta }}_{\mathit{i}}$	${\mathit{d}}_{\mathit{i}}$	${\mathit{\alpha }}_{\mathit{i}}$	${\mathit{a}}_{\mathit{i}}$
Link 1	${\theta }_0$	$L_0$	90°	0
Link 2	${\theta }_1$	0	0	$L_1$