diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
index 4e462ca1eb3ed06f68f9828e9272de46950e7baf..86f7f8eaa77586a0f5c7ced2869a496898412e7d 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
@@ -72,7 +72,7 @@
     <Joint type="revolute">
       <!--DH a="20" d="-310" theta="-90" alpha="90" units="degree"/-->
       <axis x="0" y="0" z="-1"/>
-      <Limits unit="degree" lo="-70" hi="109"/>
+      <Limits unit="degree" lo="-70" hi="70"/>
 		<MaxVelocity unit="radian" value="1"/>
 		<MaxAcceleration value="10"/>
                 <MaxTorque value="3000"/>
@@ -99,7 +99,7 @@
     <Joint type="revolute">
       <!--DH a="0" d="-7.5" theta="90" alpha="-90" units="degree"/-->
       <axis x="0" y="0" z="1"/>
-      <Limits unit="degree" lo="-120" hi="40"/>
+      <Limits unit="degree" lo="-120" hi="19"/>
 		<MaxVelocity unit="radian" value="1"/>
 		<MaxAcceleration value="10"/>
                 <MaxTorque value="3000"/>
@@ -127,7 +127,7 @@
       <!--DH a="0" d="-240" theta="90" alpha="-90" units="degree"/-->
       <axis x="0" y="0" z="-1"/>
       <!--Limits unit="degree" lo="-57.29" hi="174.48"/-->
-      <Limits unit="degree" lo="-90" hi="200"/>
+      <Limits unit="degree" lo="-90" hi="158"/>
 		<MaxVelocity unit="radian" value="1"/>
 		<MaxAcceleration value="10"/>
                 <MaxTorque value="3000"/>