THE EFFECT OF BANDWIDTH ON TELEROBOT SYSTEM PERFORMANCE

Authors
UEBEL M ALI M MINIS I
Citation
M. Uebel et al., THE EFFECT OF BANDWIDTH ON TELEROBOT SYSTEM PERFORMANCE, IEEE transactions on systems, man, and cybernetics, 24(2), 1994, pp. 342-348
Citations number
15
Categorie Soggetti
Controlo Theory & Cybernetics","Computer Science Cybernetics","Engineering, Eletrical & Electronic
Journal title
IEEE transactions on systems, man, and cybernetics → ACNP
ISSN journal
00189472
Volume
24
Issue
2
Year of publication
1994
Pages
342 - 348
Database
ISI
SICI code
0018-9472(1994)24:2<342:TEOBOT>2.0.ZU;2-2
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 r emoval tests. The system performance was assessed by measuring the tas k completion time and the sum-of-squares of the contact forces and-mom ents 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 an d 2.0 Hz cases.