Scaled telerobotic control of a manipulator in real time with laser assistance for ADL tasks

A real-time QNX operating system has been used to control a PUMA 560 robotic arm using a Phantom Omni master through a TCP/IP port. A SICK laser range finder was used to for the telerobotic control. The system was implemented with different control modes, and three healthy human subjects were trained to use the system for a pick-and-place task. Data were collected and presented for different control modes, and a comparison between these modes based on the time to complete the task was presented.