Research of a New 6-Dof Force Feedback Hand Controller System

Table 1

D-H parameters.

Member bars	𝑎𝑖−1	𝛼𝑖−1	𝑑𝑖	𝜃𝑖
1	0	0	𝑑1	0
2	0	90	0	90
3	0	90	0	0