| 摘要 |
PROBLEM TO BE SOLVED: To prevent a work from being thrown out by reaction when a movement is stopped by arranging a changing means to change operation speed of a moving body as a posture of plural arms becomes a straight line shape when inching operation of the moving body is continuously performed. SOLUTION: When an angleθformed by a first arm 3 and a second arm 2 becomes smaller than a preset speed reduction angleθ1, orthogonal inching speed V designated so far is reduced to V1. Therefore, rotating speed of a second shaft 5 reduces more than when orthogonal inching is started. When an orthogonal inching command is continued, though the rotating speed of the second shaft 5 again gradually increases from the reduced speed, when it is compared with a change in rotating speed on a boundary line of a work area when speed is not reduced in the middle shown by a broken line, a rate of change is clearly small. Therefore, the fingers 1 reach onto the boundary line 53 of the work area, and even if orthogonal inching is stopped, vibration of two arms and the fingers 1 can be restrained small.
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