The Denavit - Hartenberg link parameters of 'irb5500_35_l_rev2'
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

 ------------------------------------------------------------ 
|joint no.|joint type|  alpha  |    a    |  theta  |    d    |
|---------|----------|---------|---------|---------|---------|
|    1    |   rot    | 90.000  | 0.000   |   t1    | 0.000   |
|    2    |   rot    | 0.000   | 1300.000|   t2    | 0.000   |
|    3    |   rot    | 90.000  | 0.000   |   t3    | 0.003   |
|    4    |   rot    | 34.998  | 0.000   |   t4    | 1507.495|
|    5    |   rot    | 69.996  | 0.002   |   t5    | 79.351  |
|    6    |   rot    | 34.998  | 0.005   |   t6    | 79.352  |
 ------------------------------------------------------------ 
