Two Optimized General Methods for Inverse Kinematics of 6R Robots Based on Machine Learning

Table 2

D-H parameters of a 6R robot in the case of the optimized GDLS method.

1 (S)	0.78	30	0.61
2 (L)	0.38	40	0.72
3 (U)	0.62	10	0.93
4 (R)	0.53	60	0.79
5 (B)	0.46	20	0.39
6 (T)	0.12	80	0.17