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4. Inspection
4-7
4.4. Inspection of Wrist Backlash
Check a diversion by forcing the end-effector (End Effector : spot gun, hand device,
etc.), which is attached to the vertical hem of Wrist, in the direction of back and forth,
right and left, and up and down.
Fig 4.2 Abnormal Backlash Inspecting Directions