Table 1:
The physical boundaries of the robot arm.
Joints
Training data
Testing data
Physical limits
Δθ
Physical limits
Δθ
wrist
0°~ 90°
10°
5°~ 85°
10°
bicep
0°~ 60°
5°
25°~ 57.5°
5°
rotate
-70°~ 0°
10°
-65°~ 5°
10°
shoulder
30°~ 60°
10°
35°~ 55°
10°
shoulder blade
0°~ 20°
5°
2.5°~17.5°
5°