Abstract
Expert skill is needed to operate a crane and transfer load without exciting the load sway. Typical teaching method such as explain verbally is difficult to be understood. Recently, a crane simulator is used to learn operator skill of crane. However, its time of training is no great distinction between a crane simulator and actual crane. In this paper, a simulator capable of shortening the training period of unskilled crane operators is newly built. First, referring to the sway suppression skill taught in crane driving school, sway suppressing control input is derived theoretically. Next, a learning support method that presents haptic and visual sensory information to facilitate acquisition of the sway suppression skill by the unskilled operators is proposed. An experiment was performed to validate the effectiveness of the proposed learning support method and the results indicate that proposed method can be beneficial in the training of crane operators.
