Table 1.

DH parameters of the 7-DOF robotic manipulator⁹.

Joint	$a_i(\text{m})$	${\alpha }_i(\text{rad})$	$d_i(\text{m})$	${\theta }_i(\text{rad})$
1	0	$-\pi /2$	$l_1=0.5$	$-\pi <{\theta }_1<\pi$
2	$l_2=0.2$	$\pi /2$	0	$-\pi /2<{\theta }_2<\pi /6$
3	$l_3=0.25$	$-\pi /2$	0	$-\pi /2<{\theta }_3<2\pi /3$
4	$l_4=0.3$	$\pi /2$	0	$-\pi /2<{\theta }_4<\pi /2$
5	$l_5=0.2$	$-\pi /2$	0	$-\pi /2<{\theta }_5<\pi /2$
6	$l_6=0.2$	0	0	$-\pi /2<{\theta }_6<\pi /2$
7	$l_7=0.1$	0	$d_7=0.05$	$-\pi /6<{\theta }_7<\pi /2$