Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist

Table 2

Comau NM45 DH parameters.

Link	Link length , m	Twist angle , deg	Joint offset	Joint angle , deg
1	L1 = 0.4	90	D1 = 0.75
2	L2 = 0.75	0	0
3	L3 = 0.25	90	0
4	0	−90	D4 = 0.8124
5	0	90	0
6	0	0	D6 = 0.175