| Joint | δpi | δsi | δqi |
| 0-1 | (0, 0.001, 0.002, 2, 1.5, 0.5) | (0, 0, 0, 0, sin (0.01), (0.01)) | 0 | 1-2 | (0, 0.002, 0.003, -2, 1.2, 2.4) | (0, 0, 0, 0, -sin (0.015), - (0.015)) | 0.03 | 2-3 | (0.001, 0.004, 0.003, 2, -1, 2) | (0, 0, 0, sin (0.023), 0, (0.023)) | 0.01 | 3-4 | (0.001, 0.005, 0.002, 2, 1.5, -1) | (0, 0, 0, -sin (0.004), 0, (0.004)) | 0.02 | 4-5 | (0.002, 0.003, 0, -1, 1.6, 2.3) | (0, 0, 0, 0, sin (0.031), - (0.031)) | 0.015 | 5-6 | (0.003, 0.001, -0.004, 2, 3, 1) | (0, 0, 0, sin (0.013), 0, - (0.013)) | 0.02 | 6-7 | (0.005, 0.002, -0.003, 1.6, 2, 3.2) | — | — |
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