Robotic Arm End Effector (SSME-02) Robotic Arm End Effector (SSME-02) The customer required true absolute position feedback of several small, densely packed axes for the end effector of their minimally-invasive surgical robot. The innovative SearchlightTM custom encoder system was developed. This new optical absolute encoder utilizes a VCSEL laser source, a wedge-shaped mirror and a unique, ring-shaped detector array to provide true absolute position in an extremely small, on-axis configuration. The light source sits in the middle of the ring in a stationary location and illuminates the mirror positioned on a rotating shaft. The mirror reflects the laser light back down on to the ring detector at a specific location. As the shaft rotates, the reflected beam sweeps around the ring detec

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