0

 -10-

 -20

 S-30

 0 -40 -

 -50

 -60

 -70 .
 0 10 20 30 40 50 60
 Time (1/60 sec)

 (a)

 0

 -10

 -20

 -30

 2] -40

 S -50

 -60-

 -70
 0 10 20 30 40 50 60
 Time (1/60 sec)

 (b)

Figure 6.8. Responses of joint 0 to a step input: (a) actual, (b) simulated.
 h = 17.36 rad/sec, h = 0.16, K, = 0.032 (deg/sec)/(D/A word).