| 摘要 |
PURPOSE:To enhance workability by driving the second and third arms after finding out a speed command value in the modified direction from the deviation amount between the working and modified directions of the second arm, and the speed command value in the working direction. CONSTITUTION:When a working speed is instructed by a command means 14, a deviation amount operation means 502 operates the deviation amount from the locus of the top of the second arm 3 which is at right angles to the locus direction set out by a locus direction setting means 15. Then, using the deviation amount and the command value of working speed, a modified speed command value operation means 503 operates the modified speed command which is at right angles to the locus direction. Next, based on the signals from the arm angle detection means 12, 13, command value of working speed, modified speed command value and the locus direction, the rotational movement speed operation means 504 operates the rotational movement speeds of each of first and second arms 2, 3. Furthermore, the driving means 5, 6 are driven by the driving control means 505, and the top of the second arm 3 is moved along the preset locus. |
