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Visual guidance based shared remote operation control for hydraulic manipulators.

Shizhao Zhou1, Chong Shen2, Manzhi Qi2

  • 1School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China; The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310058, China.

ISA Transactions
|February 8, 2026
PubMed
Summary
This summary is machine-generated.

This study introduces a shared remote operation control for hydraulic manipulators, improving precision and efficiency even with visual obstructions. The system enhances visual guidance reliability for safer, more accurate remote control operations.

Keywords:
Command fusionHydraulic manipulatorMaster-slave heterogeneityShared remote operationVisual guidance

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Area of Science:

  • Robotics
  • Control Systems
  • Human-Computer Interaction

Background:

  • Hydraulic manipulators are vital in hazardous environments like ocean exploration and forestry.
  • Remote operation is preferred due to high torque risks, but master-slave heterogeneity and occluded fields of view (FOV) limit efficiency and precision.
  • Existing visual guidance systems struggle with variable imaging conditions and target occlusions, impacting command reliability.

Purpose of the Study:

  • To design a visual guidance-based shared remote operation control system for hydraulic manipulators.
  • To enhance operational efficiency and precision by addressing master-slave heterogeneity and FOV occlusions.
  • To improve the reliability of visual guidance commands under challenging conditions.

Main Methods:

  • Developed an adaptive command mapping method to balance speed and accuracy.
  • Implemented feature mismatch rectification and fault awareness to enhance visual guidance reliability.
  • Designed a dual-command fusion control method for integrating optimized commands.

Main Results:

  • The proposed adaptive command mapping effectively balances command speed and accuracy.
  • Feature mismatch rectification and fault awareness significantly improve visual guidance command reliability.
  • The dual-command fusion control enables seamless integration of optimized commands for shared remote operation.

Conclusions:

  • The designed shared remote operation control system ensures robust performance for hydraulic manipulators.
  • The system maintains high operational performance even when the operator's FOV is occluded.
  • This approach enhances the safety and effectiveness of remote hydraulic manipulator operations in complex environments.