| 摘要 |
PURPOSE:To make easier the operation of a manipulator by matching the operation with a feeling of the operation by controlling a working mechanism attached to the tip of a front mechanism on the basis of detection signals from the first and second operators to provide with forces corresponding to extending and contracting movements and turning movement. CONSTITUTION:An arm 7 is attached in a vertically rocking manner to the tip of a boom 5 attached in a vertically rocking manner to a turnable oil-pressure shovel body 2. A working mechanism 15 movable in three-dimensional space is attached to the tip of the arm 7. A control mechanism to control the front mechanism 14 and the working mechanism 15 on the basis of outputs of the first and second detectors is made up of the first operator 25A to provide with forces corresponding to the extending and contracting movements of the mechanism 15, the first detector to detect the forces, the second operator 25B to provide with forces corresponding to the turning of the mechanism 15, and the second detector to detect the forces. Operations matching with a feeling of operation can thus be performed. |
