The Influence of the Operator’s Perception on the Energy Demand for a Hydraulic Manipulator with a Large Working Area

Abstract

The efficient operation of hydraulic manipulators with expansive working areas is crucial in various applications such as the construction industry, the rescue service, and the military. These machines are characterized by having more capabilities than humans, and they perform tasks that are not repeated in the same environment. For this reason, they are most often controlled by a human in a teleoperation system. This research investigates the influence of the operator’s perception on the energy demand of such manipulators. Specifically, the research focused on assessing how the intuitive control systems, such as primary–secondary solutions, impact the energy consumption. Understanding the relation between the operator’s perception and the energy demand is essential for optimizing manipulator design and operation. Experimental research was conducted to analyze the velocity and acceleration of the manipulator’s effector, which is controlled by human operators under different movement ranges and size ratios. The obtained test results allow for the assessment of the dynamic loads, velocity, and energy consumption of the movement of a manipulator with a large working area due to the limitations resulting from the operator’s perception.

Keywords

• manipulator
• human–machine interface
• operator perception
• size ratio
• energy consumption