Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

Table 2

D-H parameters of the generalized manipulator.

Link	(rad)	(cm)	(rad)	(cm)	Type
1	0	0		0	R
2		0	0		T
3		0		25	R
4		−6.5		0	R
5		6.5		28.5	R
6		0		0	R
Tool		0	0	28