In the D-H parameters of the robot, why do some theta need to add pi/2 or subtract pi/2? #7
Description
robot.name= 'FANUC M_10iA';
robot.DH.theta= '[q(1) q(2)-pi/2 q(3) q(4) q(5) q(6)+pi]';
robot.DH.d='[0.45 0 0 0.64 0 0.1 ]';
robot.DH.a='[0.15 0.6 0.2 0 0 0]';
robot.DH.alpha= '[-pi/2 0 -pi/2 pi/2 -pi/2 0]';
robot.J=[];