How to Increase Crane Control Usability: An Intuitive HMI for Remotely Operated Cranes in Industry and Construction

  • Felix TopEmail author
  • Michael Wagner
  • Johannes Fottner
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 903)


Current interfaces for operating cranes are non-intuitive and lack a user-centered design since the user constantly needs to determine the joint velocities that are required to generate the desired velocity of the crane’s hook. The presented research aimed to make crane operation more intuitive by using an innovative HMI which includes inverse kinematics and several controllers. The user directly specifies the desired direction the load should move in. Inverse kinematics was used to calculate necessary joint velocities, while controllers ensured that the real movement and the desired movement matched closely.


Crane control Inverse kinematics Human machine interface 


  1. 1.
    Peng, K., Singhose, W.: Crane control using machine vision and wand following. In: International Conference on Mechatronics. IEEE, Piscataway (2009)Google Scholar
  2. 2.
    Peng, K., Singhose, W., Gessesse, S., Frakes, D.: Crane operation using hand-motion and RFID tags. In: International Conference on Control and Automation. IEEE, Piscataway (2009)Google Scholar
  3. 3.
    Sorensen, K., Spiers, J., Singhose, W.: Operational effects of crane interface devices. In: Conference on Industrial Electronics and Applications, pp. 1073–1078. IEEE, Piscataway (2007)Google Scholar
  4. 4.
    Kim, D., Singhose, W.: Performance studies of human operators driving double-pendulum bridge cranes. Control Eng. Pract. 18, 567–576 (2010)CrossRefGoogle Scholar
  5. 5.
    Manner, J., Gelin, O., Mörk, A., Englund, M.: Forwarder crane’s boom tip control system and beginner-level operators. Silva Fennica 51(2), 1717 (2017)Google Scholar
  6. 6.
    Kivila, A., Porter, C., Singhose, W.: Human operator studies of portable touchscreen crane control interfaces. In: International Conference on Industrial Technology, pp. 88–93. IEEE (2013)Google Scholar
  7. 7.
    Kivila, A., Singhose, W.: The effect of operator orientation in crane control. In: Dynamic Systems and Control Conference. ASME (2014)Google Scholar
  8. 8.
    Siciliano, B.: Kinematic control of redundant robot manipulators: a tutorial. J. Intell. Robot. Syst. 3, 201–212 (1990)CrossRefGoogle Scholar
  9. 9.
    Fahimi, F.: Autonomous Robots—Modeling, Path Planning, and Control. Springer, Boston, (2009)Google Scholar
  10. 10.
    Chan, T., Dubey, R.: A weighted least-norm solution based scheme for avoiding joint limits for redundant joint manipulators. IEEE Trans. Robot. Autom. 11, 286–292 (1995)CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Technical University of MunichGarchingGermany

Personalised recommendations