Table 8. Lead time and error according to crane-tip control algorithm.

Direction	Lead time (ms)				Error (mm)
	1st	2nd	3rd	Average	1st	2nd	3rd	Average
Forward	5,360	5,340	5,320	5,340	10.253	10.233	10.233	10.240
Backward	5,200	5,220	5,180	5,200	10.099	9.911	10.108	10.039