PURPOSE: To control the locus of the attachment with high accuracy by obtaining control signals corresponding to the angular velocity of oscillation of a boom for controlling a bucket so as to draw a desired locus when an arm is manually operated and feedback-controlling the position of the boom.
CONSTITUTION: The arm 2 is manually operated by means of a lever 22 and an analog signal XB is generated, the angles of the boom 3 and the arm 2 are detected by means of potentiometers, detecting signals α, β are obtained, and the signals XB, α, β are inputted to the multiplexer 23a of a micro-computer 23. The signals being generated are inputted to an arithmetic circuit 23e through an A/D converter, output signals from a memory circuit 23c are inputted to an arithmetic unit, and the electromagnetic control valve 14 of the cylinder 5 of the boom 3 is controlled by the output signals. Accordingly, the speed of oscillation of the boom 2 is acquired when the arm 3 is manually operated, and the bucket 4 can be extruded while keeping deviation H.
OBARA KIYOTAKA
WATANABE HIROSHI
MURAYAMA TAKESHI
NAKAJIMA YOSHIO
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