Novel Virtual Training System for Learning the Sway Suppression of Rotary Crane by Presenting Joystick Motion or Visual Information

In this paper, we propose a novel virtual training system capable of shortening the training period of unskilled crane operators. First, a simulator representing the motion behavior of load and boom during transfer operation in crane's cockpit is newly built. Second, referring to such the sway suppression skill taught in crane driving school, sway suppression control input is theoretically derived. Thirdly, a learning support method with ideal operation of joystick motion or visual sensory information to facilitate acquisition of the sway-suppression skill for unskilled operators is proposed. Finally, a lot of experiments were performed to validate the effectiveness of the proposed learning support method.