Diverse Control Scheme Selection for a Teleoperated Robotic Arm

Abstract

This paper explores the application of telemetry to the control of a 6-axis robotic arm, designed for a prototype rover competing in the 2023 University Rover Challenge. The arm utilizes brushed DC motors, controlled by H-bridge circuits, to move the axes and dual end-effector. A central circuit board facilitates both open and closed loop control of the system via an integrated Teensy microcontroller, with signals transmitted to and from the remote Basestation over the 900 MHz, 2.4 GHz, or 5.8 GHz bands. Data received by the arm consists of motor output demands, joint angle targets, coordinate targets for inverse kinematic control, and a variety of other control signals, while data transmitted by the arm provides sensor feedback and status information to the remote operator. This telemetry allows operators to make informed decisions on control scheme selection, which is ideal for teleoperation.