CoppeliaSim forums

I used the DH extract tool for UR5 in V-rep. I get the following result:
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Between 'UR5_joint1#0' and 'UR5_joint2#0':
d=0.0661
theta=0.1
a=0.0050
alpha=-90.0
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But for UR5, the standard DH parametersis "d=0.089159, a=0, alpha=pi/2 ", the standard DH parameters is "d=0.089159, a=0, alpha=0", Let's just talk about alpha, why the alpha got from extractor is -pi/2?

Excuse me, have you solved it?

I also encountered this issue. The DH parameters extracted by the DH extractor in version 4.5 do not match the actual situation. The official said that this tool is broken, but it seems to have not been repaired

Hello,

that add-on should have been fixed in release V4.5. It could of course be that the UR5 model has some discrepancies in regards to the real robot. Do you have the specs at hand, including a CAD model (also rigid)?

Cheers