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Midfielder Palmer struck three minutes from the end in Monday's League Two clash at the Pirelli when he curled in a 22-yard free-kick, only for Atkins to steal his thunder by brilliantly keeping out Kevin Ellison's injury-time spot-kick.
Burton were ahead in the sixth minute when midfielder Adam Bolder curled a 16-yard shot into the top corner after an incisive move involving Justin Richards and Jimmy Phillips. Long-serving full-back Aaron Webster scored his 100th career goal six minutes before the break, sweeping home a left-foot shot from 12 yards after a neat lay-off by fit-again striker Calvin Zola.
Morecambe bounced back to reduce the deficit in added time at the end of the first half when Jordan Burrow pounced from close-range after a Will Haining free-kick had been pulled back by Jack Redshaw.
Danny Carlton came off the bench at the start of the second half and took only four minutes to level the scores when he met Izak Reid's free-kick with stooping header from close in.
Palmer put Burton back in front and in a dramatic finish Atkins came to the rescue after Zola had been penalised for a foul on Carlton.
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