kinematics

$q_i$ (rad)

$a_i$ (m)

$d_i$ (m)

${\alpha }_i$ (rad)

Joint1

$q_1$

0

$d_1$

π/2

Joint2

$q_2$

$a_2$

0

0

Joint3

$q_3$

$a_3$

0

0

Joint4

$q_4$

0

$d_4$

π/2

Joint5

$q_5$

0

$d_5$

−π/2

Joint6

$q_6$

0

$d_6$

0