The Inverse Solution Algorithm and Trajectory Error Analysis of Robotic Arm Based on MQACA-RBF Network

Table 1

DH parameters of ZrARM mechanical arm.

Joint i	ai−1 (mm)	di (mm)	αi−1 (°)	Θi (°)
1	0	0	0	−160～160
2	0	0	−90	−225～45
3	10	3	0	−45～225
4	3	10	−90	−110～170
5	0	0	90	−100～100
6	0	0	−90	−266～266