Development oftheOperation Support SystemforaRotaryCraneConsidering the Collision Avoidance totheGroundandtheSuppression aSwingofTransfer Object

Thepurpose ofthis research isdevelopment oftheoperation support system ofarotary crane without adding thesensor. Especially, theoperation support system ofahumaninterface that usesthejoystick andDSPisdeveloped in this research. Theoperation support system cankeeptheheight oftheobject position bychange ofboomangle without theobject hoisting operation, andcanreduce adifficult operation oftherotary crane. Also, this system cansuppress a swingoftransfer object withtheNotchFilter that theswayofnatural frequency isreduced. Theusefulness of developed support system wasverified bysameexperiments.