2.5.1 Joint range of motion

joints range
J1 -165 ~ +165
J2 -50 ~ +120
J3 -165 ~ +165
J4 -165 ~ +1
J5 -165 ~ +165
J6 -75 ~ +255
J7 -165 ~ +165

2.5.2 DH parameters

DH model

MDH parameter table

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