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Note：
It is important to consider the cylindrical volume directly above and directly below
the base of the robotic arm when a mounting place for the robotic arm is chosen.
Moving the wrist joint(second last joint) close to the cylindrical volume should be
avoided if possible, because it causes the joints to move fast even though the robotic
arm is moving slowly, causing the robot to work ineffificiently and making it
diffificult to conduct a risk assessment.
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