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