Obstacle avoidance control system of rotary crane using proposed haptic joystick

The purpose of this paper is to explore the development of a semi-automatic man-machine safety control system that combines manual instructions from an operator with the automatic control of a machine. First, in order to obtain operational support, we employed a special joystick system which provided suggestive information to a crane operator via haptic feedback. Second, an integrated system comprised of a restriction system for rotational angle and boom-luffing angle, as well as an obstacle avoidance system was built. Finally, the effectiveness of the proposed obstacle avoidance control system using haptic control was validated through experiments.