WORK MACHINE, CONTROL SYSTEM FOR WORK MACHINE, CONTROL METHOD FOR WORK MACHINE

Abstract

A working machine comprises a lower carriage, an upper swivel body provided on the lower carriage, an attachment assembly comprising a boom provided on the upper swivel body, an arm provided on the boom and an end attachment provided on the arm, an inclination inertial measurement unit for detecting an inclination angle and an inclination angular velocity of the end attachment, an angular velocity sensor for detecting angular velocities of the boom, the arm and the end attachment, and a controller for controlling operation of the attachment assembly based on detection results from the inclination inertial measurement unit and the angular velocity sensor, wherein the controller switches between a detection mode in which the inclination angle is detected by the inclination inertial measurement unit and an estimation mode.where the inclination angle is estimated from detection results of the inclination angular velocity and the angular velocities, switches.

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