Robot Control Using Alternative Trajectories Based on Inverse Errors in the Workspace

Table 2

DH table of experimental robots.

Joint	(degree)	a (mm)	d (mm)	(degree)
1	−0.318	−7.3788	169.7586
2	89.8912	−0.9163	179.4213
3	−0.0217	505.5451	0.4213
4	−0.1666	439.7139	0.4213
5	−89.8511	0.8422	160.4283
6	89.9531	−0.8371	103.4869