To perform optimal servo control in a series of respective reproducing operations, and to effectively and stably perform excavation regardless of an excavating object.
An automatically operating excavator is provided with an excavator and an automatic operation controller for storing plural work positions including at least an excavating position of the excavator by teaching operation and repeatedly performing a series of reproducing operations on the basis of the plural work positions stored by reproducing operation. The automatic operation controller is provided with a servo control means for outputting a servo control quantity W by adding compliance control by multiplying a difference between a target position THd composed of angle information being an operation target of respective operation shafts of the excavator and a present position THn composed of present angle information on the respective operation shafts by stiffness gain K and pressure control by multiplying a difference between target pressure Pd being a target in a contact state of the respective operation shafts of the excavator with an object and present pressure Pn of the respective operation shafts by pressure gain L to variably set the stiffness gain and the pressure gain according to the work positions.
NAGANO YOSHIYUKI
ISHIBASHI HIDETO
