Denavit–Hartenberg parameters for UR5 (classical or the modified)

General Application Help: How do I?
1

I came across this page DH PARAMETERS FOR CALCULATIONS OF KINEMATICS AND DYNAMICS but it is not clear to me which DH methods have been used. Is it the classical one (mentioned in Spong’s book) or the modified version which mentioned in Craig’s book? Could anyone confirm this?

2

shall be classic one, pay attention to the direction of axis z1

image
image865×552 83.8 KB

3

thank you. I’ve followed the same approach in Spong’s book and ended up with the same table.