123


Table 9-6. DH-parameters of

 -Joint di E i


0M3 7 ai


Manipulator. a i(rd)


1 0 81 a 7r/2
2 d2 82 a2 7r/2

3 d3 E3 a3 7r/2

4 d4 94 a4 7r/2

5 d5 E5 a5 7r/2

6 0 86 0 0


The solution set


(81, 92, 3'


84, 85, E6) =
 (-1.28', 0', -52.48', 180', 51.20', 180)


was found in 3 iterations with an initial estimate of (0, 0) for (81, 02) and an accuracy of 10-5. The same solution set was obtained in 6 iterations from an initial estimate of (-10*, 10) with the same precision.

 A second solution set given by


(109.07, -168.21', 112.36', -16.44, -137.00', -163.92)


was found with the initial estimate (115, iterations with the same accuracy.


-175) in 5

..