DH parameters for ABB IRB 120

Joint i ai αi di θi
1 0 +90° 290 θ1
2 270 0 0 θ2
3 0 +90° 0 θ3
4 0 -90° 374 θ4
5 0 +90° 72 θ5
6 0 0 0 θ6

DH parameters for SCORBOT ER-4u robot

Joint i ai αi di θi
1 0 +90° 350 θ1
2 220 0 0 θ2
3 220 0 0 θ3
4 0 +90° 0 θ4
5 0 0 150 θ5

Screenshots of simulation of SCORBOT ER-4u robot

Pickup position
Drop Position