The Scientific World Journal / 2014 / Article / Tab 1

Research Article

Human-Manipulator Interface Using Particle Filter

Table 1

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

JointDH
(mm) (rad) (mm) (rad)

1150 2500
2570 0
3150 00
40 6500
50 0
600−2000

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