Design of Telerobotic Drilling Control System with Haptic Feedback

Figure 17

Experiment 1: Output vertical velocity 𝑣_out(𝑡) versus reference vertical velocity 𝑣_ref(𝑡) (a); output rotational velocity of the drill bit 𝜔₁(𝑡) versus reference rotational velocity 𝜔_1𝑑(𝑡) (b).

(a)

(b)