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![](https://www.researchgate.net/profile/Manuel_Silva6/publication/311667368/figure/fig5/AS:439674473848833@1481837971457/Figura-5-Creating-a-new-workstation-with-the-IRB140-6kg-081m-typeC-robot-model.png "IRB140_6kg_0.81m_typeC \")
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