| 摘要 |
PROBLEM TO BE SOLVED: To provide a system and method for nondestructive testing that tracks a position and orientation of an inspection device in a confined space.SOLUTION: A multi-axis tool includes: a gimbal 30 adapted to be positioned adjacently to an opening 40 in a wall 42; an extended-reach device 12 having a first end 14, a second end 16, and an end effector 18 adjacent to the first end, the extended-reach device engaging the gimbal for relative rotational movement and relative sliding movement through the opening such that the end effector is positioned on a side of the wall opposite the second end; a sensor system 26, 27 configured to measure a linear position of the extended-reach device relative to the gimbal, and a position and spatial orientation of the end effector relative to the opening; and a computer control 24 connected to receive signals from the sensor system to determine at least one of a position and an orientation of the end effector relative to the opening. |
