Patent ID: 7971638

Claim:
A method of servicing a well bore with a work string, comprising: placing the work string in a well bore; receiving a work string trajectory input from a user interface, wherein the work string trajectory input comprises at least a first work string target position and a first work string target velocity; determining a simulated force feedback of the work string on a first manipulator, wherein determining the simulated force feedback of the work string on the first manipulator is based at least in part on one of a sensed and an estimated first manipulator position and on one of a sensed and an estimated first manipulator velocity, and wherein determining the simulated force feedback of the work string on the first manipulator is further based one of a sensed and an estimated first slip bowl position, wherein the first slip bowl is coupled to the first manipulator; determining an estimated work string velocity based at least on the simulated force feedback of the work string on the first manipulator and on the work string trajectory input; determining an estimated work string position based at least on the simulated force feedback of the work string on the first manipulator and on the work string trajectory input; determining a first manipulator position command and a first manipulator velocity command based on the estimated work string position and the estimated work string velocity; and automatically controlling the first manipulator based at least on the first manipulator position command and the first manipulator velocity command, wherein the first manipulator moves the work string in the well bore.