In this paper, we present a novel concept of shared autonomous and teleoperation control of a remote manipulator with a
laser-based assistance in a hard real-time environment for defense and security applications. The laser pointer enables
the user to make high-level decisions, such as target object selection, and it enables the system to generate trajectories
and virtual constraints to be used for autonomous motion or scaled teleoperation. Autonomous, position-teleoperation
and velocity-teleoperation control methods have been implemented in the control code. Scaling and virtual fixtures have
been used in the teleoperation-based control, depending on the user preference, for faster and easier target locking and
task execution. A real-time QNX operating system has been used to remotely control a PUMA 560 robotic arm using a
Phantom Omni haptic device as a master through a TCP/IP port. The system was implemented with different control
modes, and human subjects were trained to use the system to execute several tasks. Examples of defense and security
applications were explored and presented.
KEYWORDS: Control systems, Robotics, Time metrology, Defense and security, Robotic systems, Mathematical modeling, Motion controllers, Space robots, Chemical elements, Computer simulations
A 9-DoF mobile robotic manipulator system consisting of a 7-DoF redundant manipulator and a differentially
driven 2-DoF mobile non-holonomic platform was mathematically modeled to represent a general redundant mobile
manipulator. The control of the 3-degree of redundancy system combines the mobility and manipulation, expands on the
conventional control methods and introduces user-specified weights to the singularity-robust (S-R) inverse of the
Jacobian. Criterion function weight was added to the weight matrix to optimize the control based on joint limit
avoidance. A numerical example to apply and compare several control methods was presented. Singularity and joint
limit avoidance along with user-defined motion preference were implemented in simulation. Possible applications in
defense were explored.
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