Operational Assistance System Realizing Dynamical Constraint of Operation for Obstacle Collision Avoidance in Overhead Traveling Crane

Abstract

This paper discusses the development of an operational assistance system in an overhead traveling crane. In the crane operation, the skill with obstacle collision avoidance, suppression of the load sway, and transferring to the target position in a short time is required. However, it is difficult to acquire the skill in the practical field. Therefore, the operational assistance system for avoiding the obstacles collision is proposed in this paper. The proposed system is realized by the system integration of the environment recognition and 3-DOF joystick with force display. And, the low-pass filter is applied for suppressing the load sway. The effectiveness of the proposed system is verified by the experiments with the laboratory-type overhead traveling crane.