| 摘要 |
PURPOSE:To raise the operability of a manipulator by a method in which operators to detect the components of forces or rotation forces corresponding to the extending and contracting movements of operating parts are provided, attachments for operation or operating mechanisms are controllably actuated, and the moving direction or turning direction of the operating parts are specified. CONSTITUTION:In operating the operating attachments of a civil construction machine, etc., force components Fxa, Fya, Fza, Mxa, and Mza to be applied to the first and second operating levers 25A and 25B are detected by the first and second sensors 29A and 29B, and on the basis of the detected values, drive signals Sxa of each actuator for the turning drive section of boom, etc., are calculated in an arithmetic mechanism 30. Signals Sxa and Sxb on which a grasper for objects is moved to the direction of forces applied to the lever 25A and at a speed proportional to the forces or turned to the direction of rotation forces applied to the lever 25B and at an angular speed proportional to the forces are calculated, and a manipulator 32 is controlled through a servo system 31. |
