Journals
Publish with us
Publishing partnerships
About us
Blog
Journal of Robotics
Journal overview
For authors
For reviewers
For editors
Table of Contents
Special Issues
Journal of Robotics
/
2015
/
Article
/
Tab 2
/
Research Article
Integrated Trajectory Planning and Sloshing Suppression for Three-Dimensional Motion of Liquid Container Transfer Robot Arm
Table 2
Denavit-Hartenberg parameters.
Parameter
Joint
S1
S2
S3
E1
E2
W1
W2
[rad]
π
/2
−
π
/2
π
/2
−
π
/2
π
/2
−
π
/2
0
[m]
0.315
0
0.45
0
0.5
0
0.2
[m]
0
0
0
0
0
0
0