Journal of Robotics / 2015 / Article / Tab 1

Research Article

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 (°)

1−90500 (0)−180~180
206500 (−90)−130~148
390050 (90)−145~145
4−900650 (0)−270~270
59000 (0)−115~140
600100 (0)−270~270

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