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


u
oh
- U


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

 (b)

Figure 6.10. Responses of joint 1 to a step input: (a) actual, (b) simulated.
 wh = 31.87 rad/sec, kh = 0.17, Kv = 0.055 (deg/sec)/(D/A word).