Inverse Kinematics of a 7R 6-DOF Robot with Nonspherical Wrist Based on Transformation into the 6R Robot

Table 2

The D-H parameters of the equivalent 6R robot.

-th	(mm)	(deg)	(mm)
1	0	0	0
2	0	90	0
3	1000	0	0
4	0	90	965.53216
5	0		0
6	0	90	165.53216