0

 -10

 -20

 S -30 -

 -40

 -50

 -60-

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

 (a)

 0

 -10-

 -20

 | -30 -

 a. -40-

 -50

 -60

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

 (b)

Figure 6.9. Responses of joint 0 to a step input: (a) actual, (b) simulated.
 Oh = 16.54 rad/sec, 8 = 0.31, K, = 0.044 (deg/sec)/(D/A word).