Example1 ： Stanford robot

Write down the Stanford robot coordinates’s

parameters

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6
Example 2: The figure below shows a robot
coordinate system

z0
y0
l1
z4
x0 l2
z1
l3
z2
z3 x

z5 、 z 6
Write down the coordinates of parameters

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6
 answer

 Link Variable α a d cosα sinα

1 θ1 90° 0 0 0 1

2 θ2 0 l1 0 1 0

3 θ3 0 l2 0 1 0

4 θ4 -90° l3 0 0 -1

5 θ5 90° 0 0 0 1

6 θ6 0 0 0 1 0