| 摘要 |
A method and apparatus are disclosed for constraining motion of an end-effector in space. In one embodiment, the apparatus may include a mechanical positioner and first and second stops. The first and second stops may be controllable by a drive mechanism to constrain movement of the mechanical positioner and thereby to constrain the ability of a user to manipulate an end-effector outside a predetermined range of motion. The first and second stops may be further controllable by the drive mechanism to permit movement of the end-effector within the predetermined range of motion. |
