Universal Robots Forum

Possible param HD error in FAQ #17264

In the FAQ #17264 title “Actual center of mass for robot” the given Denavit–Hartenberg parameters for UR5 is :

d = [0.089459, 0, 0, 0.10915, 0.09465, 0.0823]

but in the urcontrol.conf file of the offline simulator 3.3.2 the same param is

d = [0.089159, 0, 0, 0.10915, 0.09465, 0.02823]

I think there is an error in the FAQ