# UR10e inverse kinematics questions
**URL:** https://forum.universal-robots.com/t/ur10e-inverse-kinematics-questions/34545
**Category:** 中文提问(Questions in Chinese)
**Created:** [June 3, 2024, 9:51am UTC](https://forum.universal-robots.com/t/ur10e-inverse-kinematics-questions/34545 "2024-06-03T09:51:52Z")
**Posts on this page:** 2
**Page:** 1
### Author:  [@1107268384](https://forum.universal-robots.com/u/1107268384)
#### Post date: [June 3, 2024, 9:51am UTC](https://forum.universal-robots.com/t/ur10e-inverse-kinematics-questions/34545/1 "2024-06-03T09:51:52Z")
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
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### Author:  [@tizh](https://forum.universal-robots.com/u/tizh)
#### Post date: [August 26, 2024, 2:16am UTC](https://forum.universal-robots.com/t/ur10e-inverse-kinematics-questions/34545/2 "2024-08-26T02:16:18Z")
Hi 你是使用的这里的DH参数吗？[Universal Robots - 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/)
据我所知，校正参数是直接加在默认的DH参数上的。根据标定手册，矫正参数可以在以下文件中找到
> **[calibrationManual\_e-Series.pdf](https://s3-eu-west-1.amazonaws.com/ur-support-site/41410/calibrationManual_e-Series.pdf)**
>
> 6.10 MB
