A Teleoperation Framework Based on Heterogeneous Matching for Hydraulic Manipulator
In recent years, hydraulic manipulators have been more and more widely used in the field of industrial automation because of their high power-to-weight ratio. Compared with autonomous control, bilateral teleoperation is a more reliable way to operate hydraulic manipulators on harsh occasions. Howeve...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-07-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/10/7/536 |
| _version_ | 1797433404019441664 |
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| author | Shizhao Zhou Chong Shen Shiqiang Zhu Wenwen Li Yong Nie Zheng Chen |
| author_facet | Shizhao Zhou Chong Shen Shiqiang Zhu Wenwen Li Yong Nie Zheng Chen |
| author_sort | Shizhao Zhou |
| collection | DOAJ |
| description | In recent years, hydraulic manipulators have been more and more widely used in the field of industrial automation because of their high power-to-weight ratio. Compared with autonomous control, bilateral teleoperation is a more reliable way to operate hydraulic manipulators on harsh occasions. However, teleoperation application in the hydraulic field is still limited due to operation accuracy and master–slave heterogeneous problem. In this paper, a teleoperation framework based on master–slave heterogeneous matching and nonlinear precise motion control for hydraulic manipulator is proposed, including workspace mapping algorithm, velocity-limited interpolator, inverse kinematics solver, trajectory planner, model-based controller, and feedback torque generator. The high-precision teleoperation of the hydraulic manipulator in the situation of master–slave heterogeneity is finally realized based on the designed teleoperation framework. The specialized experiment is set up, and the results also show that the method proposed in this paper can satisfy the teleoperation requirements of the hydraulic manipulator with the maximum operating accuracy up to 0.02 m under the condition of master–slave heterogeneity, which can greatly improve the applicability of hydraulic manipulator teleoperation in the case of master–slave heterogeneity. |
| first_indexed | 2024-03-09T10:15:33Z |
| format | Article |
| id | doaj.art-9758d4361d684302b97cbf917f3c1063 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T10:15:33Z |
| publishDate | 2022-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-9758d4361d684302b97cbf917f3c10632023-12-01T22:23:23ZengMDPI AGMachines2075-17022022-07-0110753610.3390/machines10070536A Teleoperation Framework Based on Heterogeneous Matching for Hydraulic ManipulatorShizhao Zhou0Chong Shen1Shiqiang Zhu2Wenwen Li3Yong Nie4Zheng Chen5The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, ChinaOcean College, Zhejiang University, Zhoushan 316021, ChinaOcean College, Zhejiang University, Zhoushan 316021, ChinaOcean College, Zhejiang University, Zhoushan 316021, ChinaThe State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, ChinaThe State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, ChinaIn recent years, hydraulic manipulators have been more and more widely used in the field of industrial automation because of their high power-to-weight ratio. Compared with autonomous control, bilateral teleoperation is a more reliable way to operate hydraulic manipulators on harsh occasions. However, teleoperation application in the hydraulic field is still limited due to operation accuracy and master–slave heterogeneous problem. In this paper, a teleoperation framework based on master–slave heterogeneous matching and nonlinear precise motion control for hydraulic manipulator is proposed, including workspace mapping algorithm, velocity-limited interpolator, inverse kinematics solver, trajectory planner, model-based controller, and feedback torque generator. The high-precision teleoperation of the hydraulic manipulator in the situation of master–slave heterogeneity is finally realized based on the designed teleoperation framework. The specialized experiment is set up, and the results also show that the method proposed in this paper can satisfy the teleoperation requirements of the hydraulic manipulator with the maximum operating accuracy up to 0.02 m under the condition of master–slave heterogeneity, which can greatly improve the applicability of hydraulic manipulator teleoperation in the case of master–slave heterogeneity.https://www.mdpi.com/2075-1702/10/7/536hydraulic manipulator teleoperationheterogeneous matchingworkspace mappingnonlinear control |
| spellingShingle | Shizhao Zhou Chong Shen Shiqiang Zhu Wenwen Li Yong Nie Zheng Chen A Teleoperation Framework Based on Heterogeneous Matching for Hydraulic Manipulator Machines hydraulic manipulator teleoperation heterogeneous matching workspace mapping nonlinear control |
| title | A Teleoperation Framework Based on Heterogeneous Matching for Hydraulic Manipulator |
| title_full | A Teleoperation Framework Based on Heterogeneous Matching for Hydraulic Manipulator |
| title_fullStr | A Teleoperation Framework Based on Heterogeneous Matching for Hydraulic Manipulator |
| title_full_unstemmed | A Teleoperation Framework Based on Heterogeneous Matching for Hydraulic Manipulator |
| title_short | A Teleoperation Framework Based on Heterogeneous Matching for Hydraulic Manipulator |
| title_sort | teleoperation framework based on heterogeneous matching for hydraulic manipulator |
| topic | hydraulic manipulator teleoperation heterogeneous matching workspace mapping nonlinear control |
| url | https://www.mdpi.com/2075-1702/10/7/536 |
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