Establishing an Improved Kane Dynamic Model for the 7-DOF Reconfigurable Modular Robot

Table 2

The D-H parameters of 7-DOF modular robot.

Link		/mm	/mm
1	0	0	420	0
2	pi/2	0	147	0
3	0-pi/2	0	535	0
4	0-pi/2	0	0	0-pi/2
5	pi	170	0	0-pi/2
6	0-pi/2	0	401	0
7	0-pi/2	0	91	0

= 1~7.