| 摘要 |
A device for operating an articulated arm of a large manipulator coupled to a mast step. The large manipulator comprises an articulated mast (22), composed of three mast arms (23 to 27), the mast arms of which may each be swung around a parallel horizontal articulation axis (28 to 32), in a limited manner. Furthermore, a control device (74), for the mast displacement is provided, which may be controlled from a remote controller (50) over a data transmission line (68). The remote controller comprises a first and a second remote control device (60, 62), each of which may be adjusted in at least one main control direction and thus providing an output signal (64, 66), whilst the control device (74) comprises a computer supported co-ordinate transformer (80), corresponding to the output signal (64) from the first remote control device (60), by means of which the drive units (34 to 38) for the redundant articulation axes may be operated in the one main control direction (r) of the first remote control device (60), according to the pattern of a pre-determined distance/angle relationship. According to the invention, in order to match the mast configuration to differing operating tasks, the control device (74) comprises a correction routine (84) based on the output signal (66) from the second remote control device (62), by means of which the drive unit of a selected articulation axis may be preferably operated in one of the main operating directions of the second remote control device (62). |
