| 摘要 |
Apparatus for use in a drilling operation comprises a robotic arm 12 with a robotic arm end effector 13 comprising a surface 60 for pressing against and supporting at least a portion of an object to be drilled 2 and a load sensor 62 to measure a load exerted by the surface on the object 2. One or more processors are configured to control the robotic arm 12 to press the surface 60 against the object 2 until the load measured by the load sensor 62 is equal to a predetermined threshold value and to lock the robotic arm 12 in position. The threshold value may be less than or equal to 5N. A further robotic arm 10 with an end effector 11 and a cutting tool (38 fig. 3) may drill and counter sink a hole 4 in object 2. End effector 11 may include a pressure foot (30 fig. 3). |
