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Control compartido para manipuladores hidráulicos basado en guía visual

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
Resumen
Este resumen es generado por máquina.

Este estudio presenta un control compartido de operación remota para manipuladores hidráulicos, mejorando la precisión y la eficiencia incluso con obstrucciones visuales. El sistema mejora la fiabilidad de la guía visual para operaciones de control remoto más seguras y precisas.

Palabras clave:
fusión de comandosmanipulador hidráulicoheterogeneidad maestro-esclavooperación remota compartidaguía visual

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Área de la Ciencia:

  • Robótica
  • Sistemas de Control
  • Interacción Humano-Computadora

Sus antecedentes:

  • Los manipuladores hidráulicos son vitales en entornos peligrosos como la exploración oceánica y la silvicultura.
  • Se prefiere la operación remota debido a los altos riesgos de torque, pero la heterogeneidad maestro-esclavo y los campos de visión (FOV) ocluidos limitan la eficiencia y la precisión.
  • Los sistemas de guía visual existentes luchan con condiciones de imagen variables y oclusiones de objetivos, lo que afecta la fiabilidad del comando.

Objetivo del estudio:

  • Diseñar un sistema de control de operación remota compartida basado en guía visual para manipuladores hidráulicos.
  • Mejorar la eficiencia y precisión operativa abordando la heterogeneidad maestro-esclavo y las oclusiones del campo de visión (FOV).
  • Mejorar la fiabilidad de los comandos de guía visual en condiciones difíciles.

Principales métodos:

  • Desarrolló un método de mapeo adaptativo de comandos para equilibrar la velocidad y la precisión.
  • Implementó la rectificación de la falta de coincidencia de características y la conciencia de fallos para mejorar la fiabilidad de la guía visual.
  • Diseñó un método de control de fusión de doble comando para integrar comandos optimizados.

Principales resultados:

  • El mapeo adaptativo de comandos propuesto equilibra eficazmente la velocidad y la precisión del comando.
  • La rectificación de la falta de coincidencia de características y la conciencia de fallos mejoran significativamente la fiabilidad del comando de guía visual.
  • El control de fusión de doble comando permite la integración perfecta de comandos optimizados para la operación remota compartida.

Conclusiones:

  • El sistema de control de operación remota compartida diseñado garantiza un rendimiento robusto para manipuladores hidráulicos.
  • El sistema mantiene un alto rendimiento operativo incluso cuando el FOV del operador está ocluido.
  • Este enfoque mejora la seguridad y la eficacia de las operaciones remotas de manipuladores hidráulicos en entornos complejos.