Table 1 D–H parameters

From: Virtual straightening of scraper conveyor based on the position and attitude solution of industrial robot model

Joint serial number \({{\varvec{\theta}}}_{{\varvec{i}}}\) \({{\varvec{d}}}_{{\varvec{i}}}\) \({{\varvec{a}}}_{{\varvec{i}}}\) \({\partial }_{{\varvec{i}}}\,{(^\circ) }\)
1 0 \({d}_{1}\) 0 0
2 \({\theta }_{2}\) 0 0 \({90}\)
3 \({\theta }_{3}\) 0 0 \({90}\)
4 \({\theta }_{4}\) 0 \({l}_{1}\) 0
5 0 \({l}_{2}\) 0 0