# Information about the lenght of the joint or a UR5e

**URL:** <https://forum.universal-robots.com/t/information-about-the-lenght-of-the-joint-or-a-ur5e/34643>\
**Category:** Technical Questions\
**Created:** [June 10, 2024, 6:23am UTC](https://forum.universal-robots.com/t/information-about-the-lenght-of-the-joint-or-a-ur5e/34643 "2024-06-10T06:23:11Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![nicolas.orefice.ext](https://avatars.discourse-cdn.com/v4/letter/n/ecae2f/32.png) [@nicolas.orefice.ext](https://forum.universal-robots.com/u/nicolas.orefice.ext)\
**Post date:** [June 10, 2024, 6:23am UTC](https://forum.universal-robots.com/t/information-about-the-lenght-of-the-joint-or-a-ur5e/34643/1 "2024-06-10T06:23:11Z")

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Hello

Due to various reason, i want to make the inverse kinematic of the UR5e but i haven’t found the technical data about the length of each joint of the ur5e

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**Author:** ![dasa](https://avatars.discourse-cdn.com/v4/letter/d/41988e/32.png) [@dasa](https://forum.universal-robots.com/u/dasa)\
**Post date:** [June 10, 2024, 6:33am UTC](https://forum.universal-robots.com/t/information-about-the-lenght-of-the-joint-or-a-ur5e/34643/2 "2024-06-10T06:33:25Z")

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Hi Nicolas,

i am sure you will find your desired information here:

[https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/](https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/)