Design of Telerobotic Drilling Control System with Haptic Feedback

Figure 6

Response of rotational velocity 𝜔₁(𝑡) (a), torque-on-bit 𝑇(𝑡) vresus estimated torque-on-bit 𝑇(𝑡) (b), and the depth of cut 𝑑(𝑡) (c) for 𝑊₀=5000 N, 𝜖=20 MPa, and 𝛾₀=5⋅10⁹.

(a)

(b)

(c)