ERROR IN JOINT 2 (DEGREES) ERROR IN JOINT 1 (DEGREES)
3-21.00 -16.00 -8.00 0.00 8.00 -27.00 -18.00 -9.00 0.00 9.00
118
Figure 7-5. Tracking error: ref. = 1.5 Hz sinusoid with amplitude
of 15 ; dist. = 0; I.M. frequency = 1.5 Hz