| 摘要 |
<p>A direct-drive active compliant end-effector (10) comprises a planar five bar linkage (28) having input links (30, 44) driven by motors (24, 26). A force sensor (52) is connected between the output link (36) and a tool mount (48) for measuring tool interaction forces, signals representative of which together with those representative of angular displacement and velocity of the input links (30, 44) are used by a controller (82) for controlling the drive motors (24, 26) to provided electronic compliancy.</p> |
