Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field

Table 1

D-H parameters of harvesting robot.

linkages; i	Twist angle; /(°)	Length of linkages; /mm	Joint angle; /(°)	Offset of linkages; /mm	Angle range; /(°)	Note/; mm
1	0	0		0	-170~170
2	-90			0	-60~150	= 155
3	0			0	-170~+75	= 360
4	-90				-190~+190	= 155
5	90	0		0	-125~+125	= 365
6	-90	0		0	-360~+360