| 摘要 |
PURPOSE:To regenerate the action of the claw tip of a bucket with high accuracy by a method in which the coordinates of the claw tip of the bucket are calculated, coordinates closet to ones stored are selected from the coordinates calculated, and the action of the claw tip is started with the position of the coordinates. CONSTITUTION:Commands of working are sent out from a commander 16, and signals of an inclined angle arithmetic unit 24 and put in a controller 22. When the inclination of the body S is 0 deg., a memory 21theta0 is selected, a signal is sent out to survo valves 11a-11c according to data stored in the memory 21theta0, and the tip of a bucket is worked one cycle. After the ending of one-cycle excavation, coordinates at return points of the claw tip of the bucket are calculated by an arithmetic unit 20 are calculated, and coordinate Mr closest to the coordinates calculated is selected from the coordinates (M1-Mn). From data stored in the coordinate Mr, output is sent to the survo valves 11a-11c by the controller 22, and the tip of the bucket is worked on cycle. Afterwards, the same operations are made. |
