This project simulates a 7-DOF robotic arm using Denavit–Hartenberg (DH) parameters and the Peter Corke Robotics Toolbox for MATLAB. It implements joint-space control with pseudoinverse-based inverse ...

I am using a TechMan robot. It has the same joint configuration as an UR robot, which you mention in the paper. Thought the UR seems to have placed the links according to the standard DH convention.