PURPOSE: To actuate not to change the moving direction of the front end of the rear arm with the movement of respective joints, by outputting the command of translational speed at the front end of the rear arm by the cabin coordinates fixed in the driver's seat.
CONSTITUTION: The rear boom 18 is attached to the driver's seat as a unit. The boom 18 is equipped with the front boom 16, the rear arm 14 and the front arm 12 connected to each other. A tool 8 is fitted at the front end of the arm 12 to be flexible. The front end 26 of the rear arm 14 is rotatably attached. The translational control to keep the posture of the arm 14 constant is provided by the coordinates 32 with the first direction XC, the second direction ZC, the third direction YC, having the operational point at the front end in order to actuate not to change the moving direction of the front end by the movement of respective joints. Accordingly, the relation of the operational direction of joy stick, pedal, etc., with the command direction of translational operation is retained to be always in the same relation with each other. In this way, operational commands can be issued without hindrance of operator's driving sense.
MOTOMURA SHIRO
TANAKA AKIO
NOSAKA HIROSHI
ISHISE FUMIHIKO
SAMEJIMA MAKOTO
