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Some parameters of the arm
| - | γ | L 1 | L 2 | L 3 | L 4 |
|---|---|---|---|---|---|
| Value | 0.785 rad | 0.100 m | 0.294 m | 0.292 m | 0.060 m |
| Joint | Torque (N.m) | Speed (rad/s) | Motion boundary (rad) | ||
| Shoulder-pitch | 115 | 7.32 | −3.14 to 3.14 | ||
| Shoulder-roll | 184 | 4.58 | −1.05 to 1.57 | ||
| Shoulder-yaw | 115 | 7.32 | −3.14 to 3.14 | ||
| Elbow-pitch | 100 | 5.76 | −1.05 to 1.57 | ||
| Elbow-yaw | 50 | 11.52 | −3.14 to 3.14 | ||
| Wrist-pitch | 20 | 18.84 | −1.05 to 1.05 | ||
| Wrist-roll | 10 | 25.12 | −1.31 to 1.05 | ||
