Development of the Operation Support System for a Rotary Crane Considering the Collision Avoidance to the Ground and the Suppression a Swing of Transfer Object

The purpose of this research is development of the operation support system of a rotary crane without adding the sensor. Especially, the operation support system of a human interface that uses the joystick and DSP is developed in this research. The operation support system can keep the height of the object position by change of boom angle without the object hoisting operation, and can reduce a difficult operation of the rotary crane. Also, this system can suppress a swing of transfer object with the notch filter that the sway of natural frequency is reduced. The usefulness of developed support system was verified by same experiments