DocumentCode
1076273
Title
The effect of bandwidth on telerobot system performance
Author
Uebel, Mark ; Ali, Michael ; Minis, Ioannis
Author_Institution
Syst. Eng., Robotics & Autom., Hughes STX, Lanham, MD, USA
Volume
24
Issue
2
fYear
1994
fDate
2/1/1994 12:00:00 AM
Firstpage
342
Lastpage
348
Abstract
The effect of the joint bandwidth of the slave arm on telerobot system performance was investigated experimentally. Three bandwidth values, 0.5, 1.0, and 2.0 Hz, were used to perform peg-in-hole insertion and removal tests. The system performance was assessed by measuring the task completion time and the sum-of-squares of the contact forces and moments applied on the peg. The experimental results indicate significant performance improvement when the bandwidth was increased from 0.5 to 1.0 Hz. No change in performance is shown, however, between the 1.0 and 2.0 Hz cases
Keywords
robots; telecontrol; 0.5 Hz; 1 Hz; 2 Hz; joint bandwidth; peg-in-hole insertion; peg-in-hole removal; slave arm; telerobot system performance; Bandwidth; Control systems; Force control; Frequency; Impedance; Mechanical engineering; System performance; Telerobotics; Testing; Time measurement;
fLanguage
English
Journal_Title
Systems, Man and Cybernetics, IEEE Transactions on
Publisher
ieee
ISSN
0018-9472
Type
jour
DOI
10.1109/21.281433
Filename
281433
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