VR operational assistance system for rough terrain crane

This article deals with an operational assistance system for a rough terrain crane. The operation of rough terrain cranes is very difficult because of the complexity of the control system, the swing of payload, and the difficulty of controlling an underactuated system. We propose an operational assistance system for performance improvement based on an interactive adaptation interface. The system does not carry out automatic control directly. It provides information which is useful for the operator to operate more efficiently and safely. We propose a haptic display for swing suppression of a payload. Some experiments on a VR crane simulator have been carried out and show the effectiveness of the proposed system.