Research Article
Omnidirectional Analysis of Spatial Manipulator
Table 1
DH parameters of manipulator.
| | | | | | Initial limit | Final limit | Joint’s type |
| | 1 | | 90° | | 0 | −120° | 120° | R | | 2 | | 0 | 0 | | −80° | 100° | R | | 3 | | −90° | 0 | 0 | −170° | 10° | R | | 4 | | 90° | | 0 | −180° | 180° | R | | 5 | | −90° | 0 | 0 | −170° | 10° | R | | 6 | | 0 | 0 | 0 | −180° | 180° | R |
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