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 1

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 Time (1/60 sec)

 (a)

 50-


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 Time (1/60 sec)

 (b)

Figure 6.12. Responses of joint 1 to a step input: (a) actual, (b) simulated.
 h = 21.47 rad/sec, 8h = 0.22, K, = 0.056 (deg/sec)/(D/A word).