I used the DH extract tool for UR5 in V-rep. I get the following result:

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Between 'UR5_joint1#0' and 'UR5_joint2#0':

d=0.0661

theta=0.1

a=0.0050

alpha=-90.0

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But for UR5, the standard DH parametersis "d=0.089159, a=0, alpha=pi/2 ", the standard DH parameters is "d=0.089159, a=0, alpha=0", Let's just talk about alpha, why the alpha got from extractor is -pi/2?

## The DH parameters of the UR5

### Re: The DH parameters of the UR5

Excuse me, have you solved it?