Research Article
[Retracted] Motion Trajectory Planning and Design of Material Spraying Service Robot
Table 2
Joint parameters of spraying robot.
| | Joint rotation | Axis direction vector | Reference point on the axis | Spinner coordinate value |
| | 1 | [0 0 1]T | [0 0 0]T | [0 0 1 0 0 0]T | | 2 | [−1 0 0]T | [0 0 0.340]T | [−1 0 0 0 −0.340 0]T | | 3 | [−1 0 0]T | [0 0 1.640]T | [−1 0 0 0 −1.640 0]T | | 4 | [0 1 0]T | [0 0 1.640]T | [0 1 0 −1.640 0 0]T | | 5 | [0 0.819 −0.574]T | [0 1.509 1.640]T | [0 0.819 −0.574 −2.209 0 0]T | | 6 | [0 0.819 0.574]T | [0 1.639 1.640]T | [0 0.819 0.574 −0.404 0 0]T | | 7 | [1 0 0]T | [0 0 1.640]T | [1 0 0 0 1.64 0]T |
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