Thanks for the informations of this gap !
I droped the matlab library (robotics-toolbox) and i used a python one integrated in the RoboDK Software (robodk.py).
With this new library it works fine !
I found the same result as the information of the post : calibration-conf-dh-model-generation/1638
Some pictures :
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real robot (teach)
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output script python
The calibration done in UR Factory seems to be only geometric.
They determines by calibration the best dh parameters to get the best accuracy in the robot volume.
No temperature correction, no joint stiffness, fixed DH…
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