Graduation Year


Document Type




Degree Name

MS in Mechanical Engineering (M.S.M.E.)

Degree Granting Department

Mechanical Engineering

Major Professor

Redwan Alqasemi, Ph.D.

Committee Member

Rajiv Dubey, Ph.D.

Committee Member

Kyle Reed, Ph.D.


Redundancy, Manipulator, Robot, Motion-­‐planning, Force Feedback


A teleoperated system of dual redundant manipulator will be controlled in this thesis. The robot used with the dual redundant manipulator in this thesis is Baxter. Baxter’s redundant robot arms are 7-degree-of-freedom arms. The problem that will be solved in this thesis is optimization of the 7-degree-of-freedom robot arms. The control algorithm of the 7-degree-of-freedom robot arms will be discussed and built. A simulation program will be built to test the control algorithm. Based on the control algorithm, a teleoperation system will be created for Baxter. The controller used is Omni, which is a six-joint haptic device. Omni will also be used to give force feedback upon collision while the user is controlling the robot. Hence, a collision force feedback system is going to be created and combined with the teleoperation system. The teleoperation system will be tested in common daily applications.