DH Parameters for Unitree Z1 Robotic Arm

Hello,

am trying to assign dh parameters for the z1 arm so i can simulate and control it using MATLAB. I found most of the dimensions but am having trouble assigning the dh parameters. First i want to simulate it and then control it using neural networks. Any help is appreciated.

Thanks

https://dev-z1.unitree.com/brief/parameter.html