PURPOSE: To regenerate the action of a working machine accurately by a method in which actual angles of boom, arm and bucket are compared with previously stored angles of boom, arm and bucket, and the boom and the arm are driven so that the deviation in the angles is zeroed.
CONSTITUTION: A working start position A for the tip of a bucket 3 is determined in advance, and the angles β1, β2 and β3 of boom, arm and bucket, corresponding to the position A, are put in an arithmetic unit. Startup signals are sent out from a commander 16, actual angles α1, α2 and α3 of boom, arm and bucket are detected by angle detectors 16W19, and the deviations between the angles α1Wα3 and the angles β1Wβ3 are compared. The boom and the arm are driven so that the deviations between the angles α1Wα3 and the angles β1Wβ3 are zeroed. The tip of the bucket is stopped at the working start position A. One-cycle excavation is made by the bucket 3 from the beginning and ending of the action. After the ending of 5-cycle excavation, the working machine is moved in parallel by width of the bucket and the operations are continued.
SHIYOUJI HIROAKI
MICHIWAKI TOSHIAKI
SUZUKI SACHIHIRO
| JPS55105034A | 1980-08-12 | |||
| JPS5187304A | 1976-07-30 |