| 摘要 |
PROBLEM TO BE SOLVED: To avoid the conventional problems that too much time is required for control resulting in complicated expensive operation because the position of the end of a manipulator is found from angle sensors for a derricking arm and a bending arm and the derricking arm and the bending arm are operated in accordance with a deviation from a target position. SOLUTION: The manipulator comprises the derricking arm to be driven by a derricking cylinder, the bending arm to be driven by a bending cylinder, the rolling arm angle sensor and the bending arm angle sensor for detecting the angles of the arms, and a horizontal operation lever and/or a vertical operation lever. The arm angles are detected by the arm angle sensors, a cylinder oil amount ratio table is arranged for specifying a fixed amount ratio of oil to be supplied to the derricking cylinder and the bending cylinder and the fixed amount ratio of the oil to be supplied to the derricking cylinder and the bending cylinder is found and output in accordance with the detected arm angles and the cylinder oil amount ratio table, whereby the front end of the manipulator can be moved from a current position in an approximately horizontal or vertical direction. COPYRIGHT: (C)2004,JPO&NCIPI
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