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The purpose of This work is to describe the development of a safe, semi-automatic man-machine control system in which the automatic control of a machine is incorporated with manual instructions from an operator. First, a haptic joystick which can provide suggestive information to a crane operator via haptic feedback was developed. Second, operational support was provided to the joystick through the application of the impedance control and the gravity compensation. Third, restrictions on the crane's velocity were, imposed by haptic control. Finally, the validity of the proposed haptic control system which can easily and safely transfer a load to arbitrary positions without colliding with obstacles was demonstrated experimentally.