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Journal of Robotics
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Journal of Robotics
/
2023
/
Article
/
Tab 1
/
Research Article
Numerical Analysis of a TCR Adaptive to Different Tree Diameters for Unstructured Forest Environment: A TCR of Variable Diameter with Different Tree Diameters
Table 1
The link parameters of TCR.
i
a
i
− 1
α
i
− 1
d
i
θ
i
1
0
0
0
θ
1
2
a
1
0
0
90
3
a
2
0
0
θ
2
4
a
3
0
0
θ
3
5
−
a
2
0
0
θ
4
6
a
3
0
0
θ
5
7
a
2
0
d
θ
6
8
a
3
0
0
θ
7
9
−
a
2
0
d
θ
8
10
a
3
0
0
θ
9
