Title:
LOCUS CONTROLLER FOR ARTICULATED WORKING MACHINE
Document Type and Number:
Japanese Patent JPS6365505
Kind Code:
A
Abstract:
PURPOSE:To simplify the arithmetic calculation of locus control, by fixing a first arm, performing the locus control of the tip of a third arm by a second and the third arms, and keeping the attitude angle of a fourth arm at a constant level. CONSTITUTION:Since the locus control of an articulated working machine having four arms is so complexed, the locus control is performed by fixing the first arm, and by the second and the third arms placing them under a restrictive condition to set the attitude angle of the fourth arm at the constant level. The deviation DELTAtheta4 of an arm angle theta4 is found from an initial value theta0(=theta1+theta2+theta3+theta4), and angle signals theta1-theta4, at a control deviation arithmetic part 329. A control signal i42 is obtained by multiplying the deviation DELTAtheta4 by a feedback gain k4 at a gain setting unit 330, and control signals i41 and i42 are added at an adder 331, then the control signal i4 of a servo valve can be obtained. The discharge quantity, and the discharging direction of oil from the servo valve are controlled by the control signal i4, and a hydraulic cylinder 19 is expanded/compressed, thereby, the attitude angle of the fourth arm 14 can be controlled at the constant level.
Inventors:
SHIRAI TAKASHI
SHOJI HIROAKI
NAKAJIMA YOSHIO
HONMA KAZUO
INAMITSU HIROSHI
SHOJI HIROAKI
NAKAJIMA YOSHIO
HONMA KAZUO
INAMITSU HIROSHI
Application Number:
JP21048586A
Publication Date:
March 24, 1988
Filing Date:
September 06, 1986
Export Citation:
Assignee:
HITACHI CONSTRUCTION MACHINERY
International Classes:
G05B19/18; B25J9/10; G05B19/416; (IPC1-7): B25J9/10; G05B19/18; G05B19/407
Attorney, Agent or Firm:
Fuyuki Nagai