| 摘要 |
PROBLEM TO BE SOLVED: To continuously operate a three joint working machine having a wide working range with the same operating sense as that of a conventional two joint working machine within the limits of normal skill of an operator and to obtain the operation having no sense of incompatibility for the operator's operation. SOLUTION: Difference of outputs between pressure sensors 60 and 61 is obtained by an adding section 64, an operation speed X1 of a first arm is calculated, difference of outputs between pressure sensors 62 and 63 by an adding section 65, an operation speed X3 of a third arm is calculated, a first arm auxiliary gain K1 outputted from a gain calculating section 44 is multiplied to the operation speed X1, a third arm auxiliary gain K3 outputted from a gain calculating section 46 is multiplied to the operation speed X3, and a second arm command speed X2 is obtained from the sum of K1 and K3. When angle signalsθ2 andθ3 from angle detection sensors 43 and 45 are getting small in the gain calculating sections 44 and 46, the smaller K1 and K3 are calculated.
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