Inverse Kinematic Analysis and Evaluation of a Robot for Nondestructive Testing Application

Table 1

D-H parameters of the TX90XL robot.

Number	(°)	(mm)	(mm)	(°)	Limit joints (°)
1	−90	50	0	(0)	−180~180
2	0	650	0	(−90)	−130~148
3	90	0	50	(90)	−145~145
4	−90	0	650	(0)	−270~270
5	90	0	0	(0)	−115~140
6	0	0	100	(0)	−270~270