ASCE Specialty Conference, Proceedings

Sungwoo Moon, Leonhard E. Bernold

Research output: Contribution to conferencePaper


Crane-type manipulators are an essential rigging system for bridge maintenance. The control of the bridge maintenance crane is mostly executed relying on operators' manual skills and experience. This is because automation of the manipulator control is difficult especially in an unstructured construction environment. Telerobotic operation allows for implementing a human-machine interface, and may serve better than full automation for efficient manipulator control. Off-line path planning provides a guidance that promotes efficient implementation of the telerobotic operation on the construction site. This paper presents the architecture of the graphic-based path planner for creating the manipulator path from a starting position to a desired destination in a CAD environment. The path planning supports a graphic overlay control that enables human-machine interface during telerobotic operation.
Original languageEnglish
Number of pages7
Publication statusPublished - 1 Jan 1996
Externally publishedYes
Eventconference -
Duration: 1 Jan 1996 → …


Period1/01/96 → …

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