Virtual Submerged Floating Operational System for Robotic Manipulation

Table 3

Denavit-Hartenberg parameters table of IRB 1600 robot manipulator.

1	150	-90	486.5
2	700	0	0	-90
3	0	90	0	+180
4	0	-90	600
5	0	90	0
6	0	90	65	-90