Motion Reliability Modeling and Evaluation for Manipulator Path Planning Task

Table 1

The nominal DH parameters of 7-DOF manipulator.

Link	(°)	(m)	(m)	(°)
1	0	0.6	0	90
2	90	0.5	0	−90
3	0	0.5	5	0
4	0	0.5	5	0
5	0	0.5	0	90
6	−90	0.5	0	−90
7	0	0.6	0	0