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https://www.youtube.com/watch?v=Gv5B63HeF1E
the servos and amps are 200w Panasonic Minas. the controller is a Delta Tau Pmac (of course). the links are wrapped carbon, the joints are 7068 aluminum. the gripper is a 2010 piab vac generator with an anver suction cup. The limiting factor on speed is the vacuum. Observe how much it must slow down to pick up, drop off, and carry the ball. Sina wrote the motion program... it is a good one!
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