Research Article
Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger
Table 1
Nominal D-H parameters of the space robot.
| | Link Number | /rad | /rad | /m | /m | /rad |
| | 1 | | − | 0 | 0.5 | — | | 2 | 0 | 0 | 1 | — | 0 | | 3 | − | | 0 | 0 | — | | 4 | 0 | − | 0 | −0.8 | — | | 5 | | | 0 | 0 | — | | 6 | 0 | 0 | −0.12 | 0.4 | 0 |
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