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Proceedings Paper

Laser-assisted real-time and scaled telerobotic control of a manipulator for defense and security applications
Author(s): Eduardo Veras; Karan Khokar; Redwan Alqasemi; Rajiv Dubey
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Paper Abstract

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.

Paper Details

Date Published: 30 April 2009
PDF: 11 pages
Proc. SPIE 7332, Unmanned Systems Technology XI, 73321S (30 April 2009); doi: 10.1117/12.819777
Show Author Affiliations
Eduardo Veras, Univ. of South Florida (United States)
Karan Khokar, Univ. of South Florida (United States)
Redwan Alqasemi, Univ. of South Florida (United States)
Rajiv Dubey, Univ. of South Florida (United States)

Published in SPIE Proceedings Vol. 7332:
Unmanned Systems Technology XI
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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