2.5.1 Joint range of motion

joints range
J1 -178 ~ +178
J2 -74 ~ +130
J3 -178 ~ +178
J4 -180 ~ +10
J5 -178 ~ +178
J6 -20 ~ +273
J7 -180 ~ +180

2.5.2 DH parameters

DH model

MDH parameter table

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