Operation Assistance Method of Master-slave Heavy-duty Hydraulic Manipulator based on Auditory Feedback

doi:10.3901/JME.2022.18.150

Abstract

Abstract: Master-slave position control of multi-degree-of-freedom(Multi-DOF) heavy-duty hydraulic manipulator(HHMs) has the advantages of intuitive operation and natural human-machine interaction, compared with separate joint rate control. However, the properties of slow dynamic and response relay result in the problem of low operational efficiency and high collision risks. To overcome this problem, an operation assistance method based on auditory feedback is proposed. The basic concept is to transfer the master-slave position error to an auditory cue with different tones and volume levels, with the aim of improving the training efficiency for the novices, and enhance the operation performance of skilled operators in actual working scenes. A virtual reality control platform for the Multi-DOF HHM is established, and a human-machine interface with auditory feedback is designed for operation assistance. Forty participants are recruited to carry out comparison tests and performance evaluation. The test results indicate that the auditory feedback method is effective for novice operators to master the operation skills of the HHM more quickly with 24.7 % less average training times. Moreover, the proposed method is also beneficial for the skilled operator to implement the required task with 8.8% less completion time and 22.7% less collision times with the surroundings, compared with the result without auditory feedback.

Key words: heavy-duty hydraulic manipulator, response delay, virtual reality, auditory feedback, human-machine interface

CLC Number:

TG156

CHENG Min, TU Kaiwen, DING Ruqi, XU Bing. Operation Assistance Method of Master-slave Heavy-duty Hydraulic Manipulator based on Auditory Feedback[J]. Journal of Mechanical Engineering, 2022, 58(18): 150-158.

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