Inverse Kinematic Analysis and Evaluation of a Robot for Nondestructive Testing Application
Table 1
D-H parameters of the TX90XL robot.
Number
(°)
(mm)
(mm)
(°)
Limit joints (°)
1
−90
50
0
(0)
−180~180
2
0
650
0
(−90)
−130~148
3
90
0
50
(90)
−145~145
4
−90
0
650
(0)
−270~270
5
90
0
0
(0)
−115~140
6
0
0
100
(0)
−270~270
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