| 摘要 |
PROBLEM TO BE SOLVED: To prevent the generation of shock following positional correction by correcting the operating signal from an operation input means or the control signal from a control output means in the direction for eliminating an error in response to an error between a first target coordinate and a second target coordinate. SOLUTION: Since the correction operating signal [Vx', Vy', Vz'] is corrected so that a second target coordinate [Lr',θr',ϕr'] comes close to a first target coordinate [Lr,θr,ϕr], this correction operating signal [Vx', Vy', Vz'] is input to a second geometrical computing unit 23, and the speed signal [VL', Vθ', Vϕ'] per each hydraulic actuator is obtained on the basis of a second target coordinate. Even in the case where an error [ΔX,ΔY,ΔZ] exists at the time of starting the re-movement of control point within a horizontal surface, this error is not considered as an object to be controlled for positional correction by the feedback control. Consequently, generation of a shock with a positional correction at the time of starting re-movement in a conventional one is prevented.
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