Table 3. Lead time and error according to LBO radius and number of waypoints (forward direction).

LBO radius (mm)	No. of waypoints	Lead time (ms)	Error (mm)
5	20	8,460.000	17.976
	30	14,726.667	12.915
	40	23,680.000	11.659
7	20	5,973.333	19.888
	30	8,580.000	14.521
	40	7,900.000	12.028