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Table 2 Denavit-Hartenberg and Hayati zero offset values with \(\pmb{\lambda\in\{ 650,700,\ldots, 1\text{,}050 \} }\) and \(\pmb{\mu\in\{ 600, 650,\ldots , 1\text{,}050 \} }\)

From: A computational method for key-performance-indicator-based parameter identification of industrial manipulators

Joint i

\(\boldsymbol{\theta_{i}}\) ( \(\boldsymbol{{}^{\circ}}\) )

\(\boldsymbol{\alpha_{i}}\) ( \(\boldsymbol{{}^{\circ}}\) )

\(\boldsymbol{a_{i}}\) (mm)

\(\boldsymbol{d_{i}}\) (mm)

\(\boldsymbol{\beta_{i}}\) ( \(\boldsymbol{{}^{\circ}}\) )

1

0.00

\( \underline{90}\underline{.}\underline{00} \)

\( \underline{350}\underline{.}\underline{00} \)

0.00

-

2

\( \underline{0}\underline{.}\underline{00} \)

\( \underline{0}\underline{.}\underline{00} \)

\( \underline{0}\underline{.}\underline{00} \)

-

λ

3

\( \underline{-90}\underline{.}\underline{00} \)

\( \underline{90}\underline{.}\underline{00} \)

\( \underline{145}\underline{.}\underline{00} \)

\( \underline{0}\underline{.}\underline{00} \)

-

4

\( \underline{0}\underline{.}\underline{00} \)

\( \underline{-90}\underline{.}\underline{00} \)

\( \underline{0}\underline{.}\underline{00} \)

μ

-

5

\( \underline{0}\underline{.}\underline{00} \)

\( \underline{90}\underline{.}\underline{00} \)

\( \underline{0}\underline{.}\underline{00} \)

\( \underline{0}\underline{.}\underline{00} \)

-

6

180.00

180.00

0.00

−170.00

-

  1. Zero offsets of the underlined values are considered in OED.