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The effect of bandwidth on telerobot system performanceThe purpose of the experiment was to determine the effect that various slave-joint bandwidths have on telerobot system performance. The telerobot system consisted of a slave arm controlled by a master. The slave incorporated an impedance loop to provide local compliance in addition to the compliance provided by the operator via force feedback. Three joint bandwidths, 0.5, 1.0, and 2.0 Hz, were used. The performance measures were the task completion time and the sums of the squared forces and moments exerted on the environment. The task consisted of peg-in-hole insertion and removal. The results of the experiment indicate a significant performance decrease at 0.5-Hz bandwidth relative to the 1- and 2-Hz bandwidths. There was no significant change in performance between the 1- and 2-Hz bandwidths.
Document ID
19910021226
Acquisition Source
Legacy CDMS
Document Type
Technical Publication (TP)
Authors
Uebel, Mark
(Maryland Univ. College Park., United States)
Ali, Michael S.
(NASA Goddard Space Flight Center Greenbelt, MD., United States)
Minis, Ioannis
(Maryland Univ. College Park., United States)
Date Acquired
September 6, 2013
Publication Date
September 1, 1991
Subject Category
Mechanical Engineering
Report/Patent Number
NASA-TP-3152
NAS 1.60:3152
REPT-91E02561
Accession Number
91N30540
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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