# DH parameters joint1 offset

**URL:** <https://tech-community.robotics.abb.com/t/dh-parameters-joint1-offset/9648>\
**Category:** RobotStudio S4\
**Created:** [August 12, 2020, 9:15pm UTC](https://tech-community.robotics.abb.com/t/dh-parameters-joint1-offset/9648 "2020-08-12T21:15:47Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![ted\_morell](https://avatars.discourse-cdn.com/v4/letter/t/e99b99/32.png) [@ted\_morell](https://tech-community.robotics.abb.com/u/ted_morell)\
**Post date:** [August 12, 2020, 9:15pm UTC](https://tech-community.robotics.abb.com/t/dh-parameters-joint1-offset/9648/1 "2020-08-12T21:15:47Z")

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Hi,

The DH parameters can be found thanks to the method [GetDenavitHartenbergParameters](https://developercenter.robotstudio.com/api/robotstudioApi/html/da6d9a60-af28-eeb9-1e1a-cf7501905130.htm) of Mechanism Class.  
However, the kinematic base frame is different from the base frame of the robot.  
Do you know if I can find the transformation between the robot base Frame and the kinematic base frame in “ABB.Robotics.RobotStudio.Stations Namespace” ?

For example, I am working with IRB2600ID\_8\_200\_\_01.rslib  
I have in PIM.xml the KinematicBaseFrames tranlated from 445mm on Z of base frame  
Is there a method in “ABB.Robotics.RobotStudio.Stations Namespace” to find this transformation ?

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Best Regards