Research Article

A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application

Table 1

D-H parameters of PA10.

Joint(rad) Axis(m)(rad)(m)(rad)

(Shoulder1)Rotating0-/20.317
(Shoulder2)Pivoting0/20
(Shoulder3)Rotating0-/20.45
(Elbow1)Pivoting0/20
(Elbow2)Rotating0-/20.48
(Wrist1)Pivoting0/20
(Wrist2)Rotating000.07