"Attaching ohm meter as I described showed 19.5 volts which I think is too high"
Jim, the "open circuit" unloaded voltage output, Voc, may be in the 19 to over 20 volt range depending on the sunlight and angle and the panels rating, so that 19.5 volts doesnt surprise me. Its important to what the voltage is when connected to a load and to what voltage it might raise a given battery that tells you more.
"Can solar panel leads be attached directly to battery as long as polarity is correct?"
They could be connected direct without a charge controller in place and "work". Depending on the panel rating and sunlight and the battery I suppose there's "some" chance the battery could become overcharged, that's one reason for using a charge controller.
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