Manipulator Position Sensor System

摘要

A system and method for determining a position of an articulated member with respect to a predetermined plane comprise a multi-axis accelerometer mounted to a first movable member of an articulated set of members. The multi-axis accelerometer produces a sinusoidal signal in proportion to a position of the member with respect to a predetermined set of axes of a predetermined plane. An motion controller operatively in communication with the multi-axis accelerometer determines the angle of inclination as the arctangent of two readings obtained from the accelerometer.