Parameter designation
Additional information
[A]
Offset base to joint 2 (Z)
[B]
Offset base to joint 2 (X)
[C]
Offset base to joint 2 (Y)
[D]
Length of upper arm
Value > 0
[E]
Offset upper arm to forearm
[F]
Length of forearm
[G]
Offset wrist to flange
