| i | θ | d | a | α |
|---|---|---|---|---|
| 1 | θ1 | d1 | 0 | π/2 |
| 2 | θ2+π/2 | 0 | L1 | 0 |
| 3 | θ3 | 0 | L2 | 0 |
| 4 | θ4-π/2 | 0 | 0 | -π/2 |
| 5 | θ5 | L3+d2 | 0 | 0 |
- d1 = 0.075 m
- L1 = 0.12 m
- L2 = 0.14 m
- L3 = 0.0725 m
- d2 = 0.095 m
-
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Modelling and Control Strategies for the robot Soft Snake
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