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5 marks Graph the trajectories of the joint displacements during the tracing process 4 marks Graph the trajectory of the motor effort (torque or force)

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5 marks Graph the trajectories of the joint displacements during the tracing process 4 marks Graph the trajectory of the motor effort (torque or force) during the tracing process 3 marks Neatness, adequacy and formatting of the report and graphs 2 marks

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