Universal Robots UR10 - Robot Arm Configuration

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3.1.2 Robot arm configuration
3.1.8 Upper arm – Shoulder joint
3.1.7 Shoulder joint – Base joint
3.1.6 Base joint – Base mounting bracket
3.1.9 Elbow joint – Upper arm
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3.1.14 Tool flange – Wrist 3 joint
3.1.13 Wrist 3 joint – Wrist 2 joint
3.1.12 Wrist 2 joint – Wrist 1 joint
3.1.11 Wrist 1 joint – Lower arm