diff --git a/src/roboticstoolbox/robot/DHLink.py b/src/roboticstoolbox/robot/DHLink.py
index 4b570901e..827a214dd 100644
--- a/src/roboticstoolbox/robot/DHLink.py
+++ b/src/roboticstoolbox/robot/DHLink.py
@@ -616,7 +616,7 @@ def A(self, q: float) -> SE3:
         sa = _sin(self.alpha)
         ca = _cos(self.alpha)
 
-        if self.ets[-1].isflip:
+        if self.v is not None and self.v.isflip:
             q = -q + self.offset
         else:
             q = q + self.offset
diff --git a/tests/test_DHRobot.py b/tests/test_DHRobot.py
index f76706561..307a8de7a 100644
--- a/tests/test_DHRobot.py
+++ b/tests/test_DHRobot.py
@@ -168,6 +168,33 @@ def test_qlim(self):
         nt.assert_array_almost_equal(r0.qlim, ans)
         nt.assert_array_almost_equal(r1.qlim, np.c_[qlim])
 
+    def test_A_flip_standard_dh(self):
+        q = 0.3
+
+        flipped = rp.RevoluteDH(
+            d=0.2, a=0.3, alpha=0.4, offset=0.1, flip=True
+        )
+        normal = rp.RevoluteDH(
+            d=0.2, a=0.3, alpha=0.4, offset=0.1
+        )
+
+        nt.assert_array_almost_equal(
+            flipped.A(q).A,
+            normal.A(-q).A,
+        )
+
+        flipped = rp.PrismaticDH(
+            theta=0.2, a=0.3, alpha=0.4, offset=0.1, flip=True
+        )
+        normal = rp.PrismaticDH(
+            theta=0.2, a=0.3, alpha=0.4, offset=0.1
+        )
+
+        nt.assert_array_almost_equal(
+            flipped.A(q).A,
+            normal.A(-q).A,
+        )
+
     def test_fkine(self):
         l0 = rp.PrismaticDH()
         l1 = rp.RevoluteDH()