Table 1 Denavit–Hartenberg parameters for xArm-6
From: Eye-gaze control of a wheelchair mounted 6DOF assistive robot for activities of daily living
\(i\) | \({a}_{i}\) | \({\alpha }_{i}\) | \({d}_{i}\) | \({\theta }_{i}\) |
|---|---|---|---|---|
\(1\) | \(0\) | \(0\) | \({L}_{1}\) | \({\theta }_{1}\) |
\(2\) | \(0\) | \(-\pi /2\) | 0 | \({\theta }_{2}{+}^{0}{\theta }_{2}\) |
3 | \({L}_{2}\) | \(0\) | 0 | \({\theta }_{3}{+}^{0}{\theta }_{3}\) |
4 | \({L}_{3}\) | \(-\pi\) | \({L}_{4}\) | \({\theta }_{4}\) |
5 | 0 | \(\pi /2\) | 0 | \({\theta }_{5}\) |
6 | \({L}_{5}\) | \(-\pi /2\) | \({L}_{6}\) | \({\theta }_{6}\) |