Motion Trajectory Control System for Production Line Robots Based on Variable Domain Fuzzy Control

Table 1

D-H parameters of hybrid manipulator.

Connecting rod	Joint angle (°)	Offset distance (mm)	Range of joint angle (°)
1	β1	350	(−180, 180)
2	β2	0	(−180, − 90)
3	β3	0	(−90, 120)
4	β4	550	(−180, 180)
5	β5	0	(−120, 120)
6	β6	0	(−90, 150)