“…Mechanical linkage systems incorporate six degrees-of-freedom (6 joints) and use potentiometers or optical encoders to measure position of linkage joints and determine the end-to-end position and orientation (Chao, et al, 1980;Gardner, et al, 1996;Hollis, et al, 1991;Kinzel, et al, 1972;McClure, et al, 1998;Townsend, et al, 1977). 3 Mechanical linkages can achieve sub-millimeter accuracy, but the measurement space (linkage reach) tends to be limited to about 50 cm.…”