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The IRB 120 is a no-nonsense workhorse of a robotic arm, but, as with other modern robots, it seems to have been designed to minimize jerk (the first derivative of acceleration) and maximize flexibility. This video makes good use of these strengths to push the envelope regarding robotic dance. The result, while adequately serving the purpose of demonstrating how this model might fit into an industrial context, borders on high art when it leaves the simulations behind and shows the actual robot in motion. Nicely done!