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
fDate :
2/1/1994 12:00:00 AM
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;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
