Abstract: Detecting section detects joint angles and the relative angle of rotation from a plurality of rotatable operating tools mounted on a single mobile platform of a construction machine. Interference distance calculator, having recorded predetermined point positions for each operating tool, derives the distances between the plurality of operating tools on the basis of the detection results and the point positions, and calculates the shortest approach distance from these distances. If this shortest approach distance is less than a prescribed set distance, anti-interference controller issues a warning to alarm via the output controller, and it outputs anti-interference control to hydraulic control section CC such that the approaching tool is halted or slowed down, or the velocity of the operating tool being approached is matched to that of the approaching tool depending on the set mode.

Abstract: To prevent toppling of a construction machine where a plurality of operating tools are provided on a single mobile platform, a control section detects the cylinder axial forces, joint angles and relative angle of rotation for a plurality of operating tools provided rotatably on a single mobile platform, and a moment calculator calculates a composite moment for the plurality of operating tools on the basis of these detection results and further calculates a stability value relating to toppling, from this composite moment and a reference moment.

Abstract: A working machine control device for construction machinery provided with a plurality of joined working arms, an attachment mounted to the leading end of the working arms and a plurality of actuators for driving the working arms and the attachment, includes a function to adjust a pushing force between the attachment and a working plane by automatically controlling at least one of the actuators. The control device also includes a load detecting unit for detecting a load applied from the working plane to the attachment, working machine posture detecting devices for detecting postures of the working arms and the attachment and a computing unit for computing the pushing force between the attachment and the working plane on the basis of output values from the load detecting unit and the working machine posture detecting devices. The computing unit outputs a component of the pushing force in a direction perpendicular to the working plane.

Abstract: The present invention relates to a master/slave manipulator and a method for controlling the same, in which a large working area and good controllability can be provided and a corresponding position shift and an enlargement ratio change can also be attained. To this end, a plurality of representing points are set on and inside a closed surface (A1) of an operating area (A) of one manipulator, while a plurality of target points corresponding to the plurality of representing points are set on and inside a closed surface (B1) of a working area (B) of the other manipulator. Working amounts (.beta.1, .beta.2, .theta.1, .theta.2) when the leading ends (11, 12) of the one manipulator and the other manipulator respectively reach the plurality of representing points and the plurality of target points, and a corresponding relationship between the working amounts of the two manipulators are obtained; and when the slave (2) is to be operated, the working amounts (.beta.1, .beta.