Assistance system for crane operation with haptic display operational assistance to suppress round payload swing

It is a difficult operation to suppress the swing of round payload of a rough terrain crane. We propose a control rule to assist the operation. The stability by the control rule is confirmed with the Lyapunov stability criterion. We propose an operational assistance method with haptic display based on the rule. The system can adapt the strength of assistance to operator´s state using recursive fuzzy inference. Some experiments on a crane simulator are performed and show the effectiveness of the proposed system