# Laser track progress
###### tags: `AUO`

1. DH參數表

| joint | theta | d | a| alpha|
| --- | ----- | ----- | --- | --- |
| 1 | 0 | 179.5 | 0 | 90 |
| 2 | 90 | 0 | 635.5 | 0 |
| 3 | 0 | 0 | 0 | 90 |
| 4 | 0 | 432 | 0 | -90 |
| 5 | 0 | 0 | 0 | 90 |
| 6 | 157.5 | 189.037 | 95.9415 | 0 |

PS:將第六軸設定在壓克立板上,座標系統如下

2. Laser校正出來的transformation(ground truth)