[arisigor]

We use code from a 3rd-party that uses axial offsets when computing inverse-kinematics. The offsets for UR10e robot are below. I tried to understand what joints those offsets match to. I found this website with the Axial Offsets, but I don't understand what are d1,a2,ar3....
I also need to find axial offsets for Yaskawa HC10. Does anyone know what these offsets are and where to get them?

Code:

d1: 0.181
a2: -0.613
a3: -0.571
d4: 0.174
d5: 0.120
d6: 0.117

[Albert]

These offsets are usually small adjustments to the home position that are the result of a calibration process commonly called Mastering or Homing. With an ABB controller this is called Update revolution counter.

This procedure needs to be run every time you replace a motor or you loose the revolution count for the home position.

You should not worry about these values when calculating forward or inverse kinematics as these are small offset adjustments that apply to the controller calibration values.