DH-Table:

Link	αi-1	ai-1	di	θi	θi, offset	type	min	max

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α_i: Link twist (the angle between and z_i and z_i+1, measured in the plane normal to x_i)
a_i: Link length (the perpendicular distance between z_i and z_i+1, measured along x_i)
d_i: Link offset (the distance from x_i-1 to x_i measured along z_i)
θ_i: Joint angle (the angle between and x_i-1 and x_i, measured in the plane normal to z_i)
θ_{i, offset}: θ_i offset
type: Joint type (revolute or prismatic)
min & max min and max joint value respectably