CONTROLLER FOR MACHINE OF MULTI-JOINT STRUCTURE

摘要

PURPOSE:To improve the stability of arms by securing suppression of any type of vibrations with these arms. CONSTITUTION:In a stop mode, a signal (c) gives an OFF command to switch valves 32-34 when the operation lever of an input device 19 is set at a neutral position at a time point t2. While the switch valve signals are kept ON because an acceleration check circuit 29 gives an ON command to those valves 32-34. Then the valve signals are turned off at a time point (ts) when vibrations of arms 3, 5 and 7 are reduced. Thus those vibrations produced when the movements of arms 3-7 are stopped can be completely suppressed. While a vibration suppressing means has no actuation when the operating lever is kept at a neutral position and arms 3-7 have no vibration together with valves 32-34 kept OFF respectively. Thus no danger exists at all.