Joseph was cut in March as a salary-cap casualty. He was due a $6 million base salary.
Joseph, 30, was sidelined the entire 2012 season with a knee injury.
Although he started every game at right offensive guard last season, his play wasn't at its old level.
He has started 99 games in seven seasons.
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Aaron Wilson covers the Ravens for The Baltimore Sun
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This story originally appeared on Nationalfootballpost.com
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