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

Table 5

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

1 (S)	0.25	20	0.19
2 (L)	0.95	30	0.37
3 (U)	0.30	−45	0.10
4 (R)	0.55	80	1.55
5 (B)	0.16	−120	0.21
6 (T)	0.22	100	0.13