Abstract
This paper presents simulations of marine crane operations using a haptic device with force feedback. Safe and efficient marine crane operations are challenging under adverse environmental conditions. System testing and operation training on physical systems and prototypes are time-consuming and costly. The development of virtual simulators alleviates the shortcomings with physical systems by providing 3D visualization and force feedback to the operator. Currently, haptic technology has limited applications in heavy industries, due to the system stability and safety issues related to the remote control of large manipulators. As a result, a novel 6-DoF haptic device was developed for crane operations allowing for a larger workspace range and higher stiffness. The employment of the haptic device enlarges the interaction scope of the virtual simulator by sending feedback forces to the operator. In the case study, simulations of marine crane anti-sway control suggested that the load sway time and amplitude were reduced with force feedback. Using the haptic device, it also helps the crane operator to prevent problematic operations.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Kado, Y., Pan, Y., Furuta, K.: Control system for skill acquisition — balancing pendulum based on human adaptive mechatronics. In: Proceeding of IEEE International Conference on Systems, Man, and Cybernetics, Taipei, Taiwan, pp. 4040–4045, 8–11 October 2006
Villaverde, A.F., Raimúndez, C., Barreiro, A.: Passive internet-based crane teleoperation with haptic aids. J. Control Autom. Syst. 10(1), 78–87 (2012)
Sato, R., Noda, Y., Miyoshi, T., Terashima, K., Kakihara, K., Nie, Y., Funato, K.: Operational support control by haptic joystick considering load sway suppression and obstacle avoidance for intelligent crane. In: Proceeding of IEEE Annual Conference of Industrial Electronics, Porto, Portugal, pp. 2301–2307, 3–5 November 2009
Farkhatdinov, I., Ryu, J.-H.: A study on the role of force feedback for teleoperation of industrial overhead crane. In: Ferre, M. (ed.) EuroHaptics 2008. LNCS, vol. 5024, pp. 796–805. Springer, Heidelberg (2008)
Takemoto, A., Yano, K., Terashima, K.: Obstacle avoidance control system of rotary crane using proposed haptic joystick. In: Proceeding of Eurohaptics Conference, 2005 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005, pp. 662–663, 18–20 March 2005. First Joint World Haptics 2005
Takemoto, A., Yano, K., Miyoshi, T., Terashima, K.: Operation assist control system of rotary crane using proposed haptic joystick as man-machine interface. In: Proceeding of 13th IEEE International Workshop on Robot and Human Interactive Communication (ROMAN), pp. 533–538, 20–22 September 2004
Liang, Y., Li, X., Chu, Y., Li, W.: Kinetostatics and spring static balancing for a novel haptic device. J. Int. J. Adv. Robot. Syst. (2015, submitted)
Karnopp, D.C., Margolis, D.L., Rosenberg, R.C.: System Dynamics: Modeling, Simulation, and Control of Mechatronic Systems. Wiley, New Jersey (2012)
Chu, Y., Æsøy, V.: A multi-body dynamic model based on bond graph for maritime hydraulic crane operation. In: Proceeding of International Conference on Ocean, Offshore and Arctic Engineering 2015, St. John’s, Newfoundland, Canada, no. 41616, 31 May–6 June 2015
Bak, M.K., Hansen, M.R.: Analysis of offshore knuckle boom crane - part one: modeling and parameter identification. J. Model. Ident. Control 34(4), 157–174 (2013)
Chu, Y., Sanfilippo, F., Æsøy, V., Zhang, H.: An effective heave compensation and anti-sway control approach for offshore hydraulic crane operations. In: Proceedings of IEEE International Conference on Mechatronics and Automation, Tianjin, China, pp. 1282–1287, 3–6 August 2014
Controllab Products B.V. (2015). http://www.20sim.com/
Khan, S.: Design and optimization of parallel haptic devices: design methodology and experimental evaluation. Doctoral thesis, Trita-MMK (2012)
Ueberle, M., Buss, M.: Design, control, and evaluation of a new 6 DOF haptic device. In: Proceedings of IEEE International Conference on Intelligent Robots and Systems, pp. 2949–2954 (2002)
Cruz-Valverde, C., Dominguez-Ramirez, O.A., Ponce-de-León-Sánchez, E.R., Trejo-Mota, I., Sepúlveda-Cervantes, G.: Kinematic and dynamic modeling of the PHANToM premium 1.0 haptic device: experimental validation. In: Electronics, Robotics and Automotive Mechanics Conference (CERMA), pp. 494–501, 28 September–1 October 2010
Acknowledgment
The authors thank Zhao Lei and Ting Ye with Beihang University for the preliminary work on the design and manufacturing of the NHD prototype.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Chu, Y., Zhang, H., Wang, W. (2016). Enhancement of Virtual Simulator for Marine Crane Operations via Haptic Device with Force Feedback. In: Bello, F., Kajimoto, H., Visell, Y. (eds) Haptics: Perception, Devices, Control, and Applications. EuroHaptics 2016. Lecture Notes in Computer Science(), vol 9774. Springer, Cham. https://doi.org/10.1007/978-3-319-42321-0_30
Download citation
DOI: https://doi.org/10.1007/978-3-319-42321-0_30
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-42320-3
Online ISBN: 978-3-319-42321-0
eBook Packages: Computer ScienceComputer Science (R0)