Research Article
A Time-Optimal Intersection Search Algorithm for Robot Grasping
Table 1
Kinematic parameters of the robot.
| | i | ai | αi | di | θi |
| | 1 | 0 | −90° | 130 | θ1 (0°) | | 2 | 613 | 0 | 0 | θ2 (−90°) | | 3 | 572 | 0 | 0 | θ3 (0°) | | 4 | 0 | 90° | 163 | θ4 (90°) | | 5 | 0 | −90° | 123 | θ5 (0°) | | 6 | 0 | 0 | 103 | θ6 (0°) |
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