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Journal of Control Science and EngineeringVolume 2013 2013, Article ID 901610, 15 pages

Research ArticleDepartment of Electrical and Computer Engineering, Western University, London, ON, Canada N6A 5B9

Received 24 May 2013; Revised 17 August 2013; Accepted 19 August 2013

Academic Editor: Wen Yu

Copyright © 2013 Faraz Shah and Ilia G. Polushin. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The paper deals with the design of control algorithms for virtual reality based teleroboticsystem with haptic feedback that allows for the remote control of the vertical drilling operation. The human operator controls the vertical penetration velocity using a haptic device while simultaneously receiving the haptic feedback from the locally implemented virtual environment. The virtual environment is rendered as a virtual spring with stiffness updated based on the estimate of the stiffness of the rock currently being cut. Based on the existing mathematical models of drill string-drive systems and rock cutting-penetration process, a robust servo controller is designed which guarantees the tracking of the reference vertical penetration velocity of the drill bit. A scheme for on-line estimation of the rock intrinsic specific energy is implemented. Simulations of the proposed control and parameter estimation algorithms have been conducted; consequently, the overall telerobotic drilling system with a human operator controlling the process using PHANTOM Omni haptic device is tested experimentally, where the drilling process is simulated in real time in virtual environment.

Autor: Faraz Shah and Ilia G. Polushin



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