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# System prepended metadata

title: Laser track progress
tags: [AUO]

---

# 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)
![](https://i.imgur.com/hoaxVmb.png)
