PURPOSE: To control the locus of the attachment without hunting by a method wherein an arm is manually operated, the angular velocity of oscillation of a boom is arithmetically operated in response to the desired locus of a bucket, the boom is feedback-controlled, and gains are changed in response to generated the deviation.
CONSTITUTION: The arm 2 is manually operated and the detecting signal XB is generated, the angles of the boom 3 and the arm 2 being accompained by the working of the arm 2 are detected as signals α, β by means of potentiometers, etc. 8, 9, and said each signal XB, α, β is inputted to a micro-computer 23. Deviation signals corresponding to difference among aimed positions and actual positions are obtained from initial positions and the angles of the boom 3 and the arm 2 and the operation of the boom 3 is controlled in the micro-computer 23. The locus of the busker 4 is controlled with high accuracy without hunting because the dimensions of the gains are properly changed in response to the deviation signals and can be memorized after completion of operation.
OBARA KIYOTAKA
WATANABE HIROSHI
MURAYAMA TAKESHI
NAKAJIMA YOSHIO
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