Operational assistance for straight-line operation of rough terrain crane

The straight-line transfer of a payload is a difficult operation with a rough terrain crane, because the operation needs a high-level operational technique with multiple levers. Thus we propose a control rule to assist the straight-line operation. We propose an operational assistance method with force display based on this rule. The system can adapt the strength of assistance to the operator´s state using recursive fuzzy inference. Some experiments on a crane simulator are performed and show the effectiveness of the proposed system