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![ABB robot family and the IRC5 controller [1]. | Download Scientific Diagram](https://www.researchgate.net/profile/Mohammed-Khan-15/publication/330599518/figure/fig11/AS:718627191943172@1548345482622/Figure-3-1-ABB-robot-family-and-the-IRC5-controller-1.jpg "ABB robot family and the IRC5 controller [1]. | Download Scientific Diagram")
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