Enhancement of virtual simulator for marine crane operations via haptic device with force feedback

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.