Design of Telerobotic Drilling Control System with Haptic Feedback

Figure 9

Response of the vertical velocity 𝑣(𝑡) (a) and the intrinsic specific energy estimate 𝜖(̂𝑡) (b) for 𝑊₀=2500 N, 𝜖=5 MPa, and 𝛾₀=5⋅10⁹.

(a)

(b)