Title:
LOCUS CONTROLLER FOR ARTICULATED WORK MACHINE
Document Type and Number:
Japanese Patent JP3338540
Kind Code:
B2
Abstract:
PURPOSE: To evade the disabled state of locus control to which deviation feedback is added as much as possible by selecting arms whose rotation direction is not a stroke end and outputting constraint conditions corresponding to the selected two arms.
CONSTITUTION: In an articulated work machine, in the case of selecting the arm on a correction direction side whose moving amount becomes maximum in a correction direction and minimum in a work direction, a constraint condition selection means 300 selects the arm on the correction direction side for which either one of the rotation directions is not the stroke end and inputs the constraint conditions to respective velocity computing means 400. A correction direction velocity command value computing means 600 computes a correction direction velocity command value corresponding to a deviation between a locus control object part and a target locus and the correction direction velocity command value and a work direction velocity command value are inputted to an angular velocity computing means 400. Then, the arithmetic result is inputted to a control means 500 and a pair of the arms are driven by a computed angular velocity. Thus, the control is not disabled during deviation feedback control.
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Inventors:
Kenya Shoji
Application Number:
JP33688093A
Publication Date:
October 28, 2002
Filing Date:
December 28, 1993
Export Citation:
Assignee:
Hitachi Construction Machinery Co., Ltd.
International Classes:
G05B19/18; E02F3/43; E02F9/20; G05B19/416; (IPC1-7): G05B19/18; E02F3/43; E02F9/20; G05B19/416
Domestic Patent References:
| JP2287804A | ||||
| JP1278623A | ||||
| JP1244017A | ||||
| JP62241010A |
Attorney, Agent or Firm:
Fuyuki Nagai
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