Journal of Applied Mathematics / 2014 / Article / Tab 1

Research Article

Developing an Efficient Calibration System for Joint Offset of Industrial Robots

Table 1

DH parameters of the ABB IRB1600 manipulator.

Joint (mm) (rad) (mm) (rad)

1 150 486.5 0
2 700 0 0
3 0 0
4 0 600 0
5 0 0 0
6 0 0 0 0

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