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![The six joints of the ABB IRB 6400 series of industrial robots 12]. | Download Scientific Diagram](https://www.researchgate.net/publication/2778693/figure/fig1/AS:648955297792012@1531734408908/The-six-joints-of-the-ABB-IRB-6400-series-of-industrial-robots-12.png "The six joints of the ABB IRB 6400 series of industrial robots 12]. | Download Scientific Diagram")