Micropositioning apparatus for a robotic arm

摘要: The present invention provides for precision micropositioning of a robotic structure. system includes number angular encoders indicating the orientations various elements with respect to one another and optical devices measuring actual deflection load bearing arm portions A separate device may be attached each target disposed at end arms an detecting opposing ends arms. plurality light sources generally in plane least source outside plane. first second linear detector arrays adjacently longitudinal axes perpendicularly oriented. Each array senses motion along single line parallel its axis. An imaging lens cylindrical are provided focus images from into lines oriented perpendicular respective arrays. portion these will remain focused on despite relative resolves translational displacement associated pivotal changes end.