Autonomous Robotic Manipulation: Real-Time, Deep-Learning Approach for Grasping of Unknown Objects

Table 2

Barrett WAM joint limits and link lengths.

Joint	Lower limit (rad)	Upper limit (rad)	Link	Length (mm)
J1	−2.6	2.6	Base link	186
J2	−2.0	2.0	L1	550
J3	−2.8	2.8	L2	300
J4	−0.9	3.1	L3	60
J5	−4.76	1.24
J6	−1.6	1.6
J7	−3.0	3.0