33 | | '''Equation 1: D-H generalized transform matrix''' |

34 | | |

35 | | '''Table 1: BURT frame parameters''' |

36 | | ||i||a,,i,,||α,,i,,||d,,i,,||θ,,i,,|| |

37 | | ||1||0||π/2||0||θ,,1,,|| |

38 | | ||2||0.650||0||0.156||θ,,2,,|| |

39 | | ||3||0.435||−π/2||0.069||θ,,3,,|| |

40 | | }}} |

| 33 | |

| 34 | {{{ |

| 35 | #!div class="center" align="center" |

| 36 | |

| 37 | '''Table 1a: BURT D-H table (modified) for right-handedness configuration''' |

| 38 | |

| 39 | {{{ |

| 40 | #!latex |

| 41 | $\begin{tabular}{|c|c|c|c|c|} \hline |

| 42 | i & $\alpha_{i}$ & $a_i$ & $d_i$ & $\theta_i$\\ \hline |

| 43 | 0 & -0.550 & $-\pi/2$ & 0 & 0\\ \hline |

| 44 | 1 & 0 & $\pi/2$ & 0 & $\theta_1$\\ \hline |

| 45 | 2 & 0.650 & 0 & 0.156 & $\theta_2$\\ \hline |

| 46 | 3 & 0.435 & $\pi/2$ & 0.069 & $\theta_3$\\ |

| 47 | \hline\end{tabular}$ |

| 48 | }}} |

| 49 | |

| 50 | |

| 51 | {{{ |

| 52 | #!div class="center" align="center" |

| 53 | |

| 54 | '''Table 1b: BURT D-H table (modified) for left-handedness configuration''' |

| 55 | |

| 56 | {{{ |

| 57 | #!latex |

| 58 | $\begin{tabular}{|c|c|c|c|c|} \hline |

| 59 | i & $\alpha_{i}$ & $a_i$ & $d_i$ & $\theta_i$\\ \hline |

| 60 | 0 & 0.550 & $-\pi/2$ & 0 & 0\\ \hline |

| 61 | 1 & 0 & $\pi/2$ & 0 & $\theta_1$\\ \hline |

| 62 | 2 & 0.650 & 0 & 0.156 & $\theta_2$\\ \hline |

| 63 | 3 & 0.435 & $\pi/2$ & 0.069 & $\theta_3$\\ |

| 64 | \hline\end{tabular}$ |

| 65 | }}} |

| 66 | |