0


 -10-


 0*- -20

 >-
 c -30


 -40


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

 (a)

 0


 -10


 0^ -20-


 S -30


 -40


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

 (b)

Figure 6.11. Responses of joint 1 to a step input: (a) actual, (b) simulated.
 h = 22.02 rad/sec, Sh = 0.31, Kv = 0.056 (deg/sec)/(D/A word).