UR10e inverse kinematics questions

hi, my English is not very good, but I still want to ask some questions. When I used the calibrated D-H parameters and inserted them into my inverse solution algorithm, I found that no results could be output, they were all exceptions. However, I can correctly obtain the inverse solution results of 8 groups by using the D-H parameters of standard UR10e provided on the official website, but this will not be consistent with the data on the teaching device. May I ask how to use the calibrated D-H parameters for inverse solution operation

My robotic arm model is UR10e,If you need to provide inverse solution calculation meal, I can also provide, please help to assist

你好,我的英语不是很好,但我仍然想问一些问题。当我使用校准的D-H参数并将其插入到我的逆解算法中时,我发现没有结果可以输出,它们都是例外。但我使用官网提供的标准UR10e的D-H参数可以正确得到8组的反解结果,但这与教学设备上的数据不一致。请问如何使用校准后的D-H参数进行反解操作

我的机械臂型号是UR10e,如果需要提供反解计算餐,我也可以提供,请帮忙协助