Standard of Puma560 robot DH parameter table as shown in the following
Theta: joint Angle
D: connecting rod offset
A: the connecting rod length
Alpha: connecting rod torsion Angle

 a alpha theta d 
1 q1 0.0000 0.0000 90 
2 q2 0.0000 0.4318 (a2) 0 
Q3 (d3) 0.0203 0.1500 3 (a3) - 90 
4 q4 (d4) 0.4318 0.0000 90 
5 q5 0.0000 0.0000-90 
6 of q6 0.0000 0.0000 0 

Puma560 robot model diagram below



Reference puma560 robot model, to observe the Staubli TX90 robot model, the model diagram below:

By comparing the same type of puma560 robot and the Staubli robot, the difference lies in the Staubli robots joints 1 Z axis and joint 2 Z axis has a 50 mm offset, the offset value of the Staubli robots a1; Staubli robots joint 3 Z axis with 4 joints of Z axis, in the same plane and p560 joints 4 Z axis relative to the joint 3 Z axis offset the distance a a3 upwards, therefore, d3 value is 0, the staubli machines and p560 a3 value is a value,
Accordingly, can write the staubli robots standard DH parameter list as follows:

 a alpha theta d 
1 q1 0.0000-0.0500-90 
2 q2 0.0000 0.4250 (a2) 0 
Q3 (d3) 0.0000 0.0500 3 (a3) - 90 
4 q4 (d4) 0.4250 0.0000 90 
5 q5 0.0000 0.0000-90 
6 of q6 0.0000 0.0000 0 

By the DH parameters can be obtained on the only change in the table, increased the values of a1, cancelled the a3 value, change the a2, d3, d4 values,
By Peter robot toolbox in matlab can be used with the function of DH parameters are verified, get the staubli robots model below:

Only being lied situation does not conform to, matlab to establish the robot base coordinates X and Y direction and the actual robot base coordinate system in the opposite direction, but this time the state of the robot joint Angle is the most accord with the actual state of the robot,
Thus, then took out a robot model, we can directly write it straight standard DH parameter, the graphic for Estun robot, Estun robot is one of the big three domestic robots, robot overall performance is good, you can try to write what;