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## Complex Arm Design. |
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So I improved the arm design. |
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With my modern robotics library this became very very easy. |
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Although, I forgot to set all the variables correctly. |
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This resulted in a small arm piece to have a mass of 0.5 kg. |
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Anyway, after I resolved that, the design worked very well. |
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The controllers are reduced to a double proportional controller. |
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The operation is really good. |
