Semi-automatic obstacle avoidance control for operation support system with haptic joystick

The purpose of this paper is to explore the development of a semi-automatic obstacle avoidance control system that combines manual instructions from an operator with the automatic control of a machine. First, in order to obtain operational support, we employed a special joystick system which provided suggestive information to a crane operator via haptic feedback. The information imparted included such factors as the application of impedance control, gravity compensation, and restriction on the crane´s velocity. Second, an integrated system comprised of a restriction system for rotational angle and boom-luffing angle, as well as an obstacle avoidance system was built. Finally, the effectiveness of the proposed obstacle avoidance control system using haptic control was validated through experiments, testing whether or not the present system could transfer a load easily and safely to any target position without colliding with obstacle.