I'm building a custom robot an got some problems with the DH parameters. According to the picture below, I came up with those DH parameters. However, when moving the robot I've got a problem with the axis. Z is not vertical but in an angle of a few degrees and X and Y seem to be shifted somewhere about the same angle. Also if I move J1 - J6 to their 0 position I don't get the right XYZ output in the software. Has anyone else had this problem before or any suggestions?