Table 4. Lead time and error according to LBO radius and number of waypoints (backward direction).

LBO radius (mm)	No. of waypoints	Lead time (ms)	Error (mm)
5	20	7,100.000	18.081
	30	11,020.000	13.782
	40	18,046.667	11.732
7	20	5,620.000	19.054
	30	7,286.667	14.594
	40	10,033.333	13.635