Table 2: Motion parameters of the arm joints.

Motion range of the joint angle (deg)Maximum angular velocity (deg/s)Maximum angular acceleration (deg/s2)
MinimumMaximum

Pitch of shoulder−120404305730
Roll of shoulder−130104305730
Yaw of shoulder−170905735730
Roll of elbow−201105735730
Yaw of wrist−1301305732865
Roll of wrist−90904872865
Pitch of wrist−60604872865