Visual guidance based shared remote operation control for hydraulic manipulators

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.