# Unusually Large Values in DH Parameter Calibration - Impact on Analytical Inverse Kinematics

**URL:** <https://forum.universal-robots.com/t/unusually-large-values-in-dh-parameter-calibration-impact-on-analytical-inverse-kinematics/39552>\
**Category:** Technical Questions\
**Created:** [April 22, 2025, 6:30am UTC](https://forum.universal-robots.com/t/unusually-large-values-in-dh-parameter-calibration-impact-on-analytical-inverse-kinematics/39552 "2025-04-22T06:30:52Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![sw.cho](https://avatars.discourse-cdn.com/v4/letter/s/c2a13f/32.png) [@sw.cho](https://forum.universal-robots.com/u/sw.cho)\
**Post date:** [April 22, 2025, 6:30am UTC](https://forum.universal-robots.com/t/unusually-large-values-in-dh-parameter-calibration-impact-on-analytical-inverse-kinematics/39552/1 "2025-04-22T06:30:52Z")

</div>

I’ve noticed that some of the calibration values in my DH parameters, particularly the delta\_d values, are unusually large:

```auto
[mounting]
delta_theta = [-5.36917848040158871e-05, -0.0674493694766872404, 0.0328101958194638582, 0.034706209660141589, -0.000103753367943237897, -2.40459723492764785e-05]
delta_a = [-7.35208283229333669e-06, 0.00106288253251085596, 0.00156073742875495469, 8.69507750912417446e-05, -1.60208825246610998e-05, 0]
delta_d = [0.000922616146718513441, 2.77721511945932242, -0.926979406950610985, -1.85085350690646111, -0.00024836821254539676, 0.000105684479083004157]
delta_alpha = [9.83568186896377483e-05, -0.0148487711875970041, -0.0107051108839634514, -0.000718004253318360597, -0.000253426414192903238, 0]
joint_checksum = [0x4ade0a1f, 0x2023e309, 0x5d42b30b, 0x1f77b746, 0x55562d9a, 0x6356f104]

```

Since analytical IK solutions typically rely on geometric structures, the current calibration values create a geometry that seems physically implausible or difficult to model analytically. Is it possible to still apply analytical IK methods with these calibration values? Or should I consider alternative IK approaches (such as numerical methods)?

I would appreciate any guidance on how to handle this situation while maintaining the accuracy achieved in the forward kinematics.