matlab

ia

i-1

α

i-1

d

i

ia

i-1

α

i-1

d

i

Link

Length

(m)

Twist

Angle

(radians)

Offset

Distance

(m)

Link

Length

(m)

Twist

Angle

(radians)

Offset

Distance

(m)

1000.12510.075π/20

20.075π/2020.30000

30.30030.075π/20

40π/2040-π/2 0.320

50.32-π/2 0.07550π/20

60π/2060.15000.100

^ use these ^