| 摘要 |
A compliant interface device 1 for use between a manipulator, such as a robot arm, and a tool 2, includes manipulator attachment means having spaced arms 4a, b, an intermediate member 5, compliantly supported between the arms, and counteractive springs 6a-h for providing the compliant support. Anchorage points for the springs are selectively located on the arms (11, figure 2) and intermediate member (10, figure 2) to adjust the compliant response of the device. The geometric arrangement is modelled by computer so as to enable the relative positions of the anchorage points to be adjusted or located to vary the compliant response. This enables linear springs to produce a complex response. Artificial neural networks (ANN) are used for reducing errors, a training period being carried out in which the manipulator is used to move the mechanical model of the compliant interface device through a region of space whilst the tool remains fixed, positions and forces being recorded in order to train the ANN. |
