Human-Manipulator Interface Using Particle Filter

Table 1

The nominal link parameters in DH model for the GOOGOL GRB3016 robot.

Joint	DH
	𝑎 (mm)	𝛼 (rad)	𝑑 (mm)	𝜃 (rad)
1	150	−𝜋/2	250	0
2	570	−𝜋	0	−𝜋/2
3	150	𝜋/2	0	0
4	0	−𝜋/2	650	0
5	0	−𝜋/2	0	−𝜋/2
6	0	0	−200	0

𝑎: length of the common normal.
𝛼: angle about common normal, from old axis to new axis.
𝑑: offset along previous to the common normal.
𝜃: angle about previous, from old to new.