From: A computational method for key-performance-indicator-based parameter identification of industrial manipulators
Joint i
Range of motion
Incident angle
\(\boldsymbol{q^{\mathrm{lo}}}\) ( \(\boldsymbol{{}^{\circ}}\) )
\(\boldsymbol{q^{\mathrm{up}}}\) ( \(\boldsymbol{{}^{\circ}}\) )
1
−82
82
β ≥ 30∘
2
−77
31
3
−13
154
4
−347
347
5
−87
87
6