Design of Telerobotic Drilling Control System with Haptic Feedback

Figure 12

Response of rotational velocity 𝜔₁(𝑡) (a), torque-on-bit 𝑇(𝑡) versus estimated torque-on-bit 𝑇(𝑡) (b), and the depth of cut 𝑑(𝑡) (c) for 𝑊₀=2500 N, 𝜖=10 MPa, and 𝛾₀=5⋅10⁸.

(a)

(b)

(c)