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6. MDF procedure "funnies"
1.elbow may "stick", then jump- can cause problems when getting MID MPM
2. joint angles are slightly different than might be used in flight
3. get "bounce" when brakes are taken off, & arm enters position hold (noticable when cradling wrist in AFT MPM)
4. significant cross coupling (+ z^ <- down combined with +x^)
5. limit cycle - "figure 8" motion superimposed at EE (using WP & WY) to simulate advertised position - hold cycling ..... this should be checked with latest SPAR data

Transcription Notes:
Not sure how to format x^ and z^