PURPOSE: To enhance the control accuracy by calculating the moving speed on the basis of the coordinates for the foremost part of a working machine sensed at certain time intervals, and controlling the locus of the machine foremost with the
CONSTITUTION: When the foremost position of a working machine such as an earth auger is moved at a very low speed, the arm relative angle is sensed by angle sensing means 11-13 at certain time intervals. On the basis of the sensing values, a coordinate calculating means 20 calculates the coordinates for the arm tip. The calculation values obtained are fed to a corrective calculating means 21, which calculates the moving speed of the arm tip from change in the coordinates for the arm tip. The speed value obtained is compared with the command signal given by a speed command means 14, and a corrected command signal is fed to a revolving speed calculating means 15 as the arm tip control speed. The means 15 further calculates the target revolving speed for each arm on the basis of the control speed signal given by the means 21 and signal of the means 11-13, and a drive control means 16 operates driving means 5, 6. Thereby constant speed can be secured without worsening the locus accuracy.
SATO YUHEI
KUMAZAWA KOJI
