GRAVITY COMPENSATION CONTROL APPARATUS AND GRAVITY COMPENSATION CONTROL METHOD FOR EXCAVATOR

摘要

PURPOSE: An apparatus and a method for the gravity compensation of an excavator are provided to stabilize the operation of a boom regardless of a distance between a swing body and a bucket. CONSTITUTION: An apparatus for the gravity compensation of an excavator comprises a compensation value determination unit(313), a boom control unit(311), a boom drive unit(312), and a main control unit(314). The compensation value determination unit calculates a gravity compensation value of a distance between a swing body and a bucket. The boom control unit generates a boom control signal for controlling the rotation of a boom. The boom drive unit rotates the boom according to the boom control signal. The main control unit controls the boom control unit to apply the gravity compensation value to the boom control unit.