Patent ID: 6317669
Filing Date: 2001-11-13
Classification: E02F

Abstract:
An automatically operated shovel having a shovel and an automatic operation controller arranged on said shovel to store by a teaching operation plural working positions of said shovel, which comprises at least a digging position, and also to cause by a reproduction operation said shovel to repeatedly perform a series of reproduction operations on the basis of said stored plural working positions, wherein:said automatic operation controller is provided with servo control means for outputting, as a servo control quantity, a sum of a compliance control quantity and a pressure control quantity, said compliance control quantity having been obtained by multiplying with a stiffness gain a difference between a target position of each operational element of said shovel, said target position comprising angle information indicative of an operational target of said operational element, and a current position of said operational element, said current position comprising current angle information on said operational element, and said pressure control quantity having been obtained by multiplying with a pressure gain a difference between a target pressure, which serves as a target when said operational element of said shovel is in contact with an object under digging, and a current pressure of said operational element; and said stiffness gain and said pressure gain are settable at varied values depending on said working positions.