| 摘要 |
<p>PURPOSE:To surely perform a fine work even if the interaxes ratio of a master arm and slave arm is small by providing a control means having the variable ratio operating signal generating route which generates the variable ratio operating signal actuating a hydraulic actuator so as to make the deviation of a positional signal from a control command signal zero by a different variable ratio. CONSTITUTION:In case of executing the fine work of a slave arm, the position of a selector 34 is reversed, a variable ratio operating signal generation route 32 is selected and an M-S ratio change mode is made. By doing so, displacement is executed by a master arm, slave arm and variably set angular ratio. Thus, the work can be done by finely displacing the slave arm even in case of the interaxes ratio of both arms being small.</p> |
