Tracking-enabled extended reach tool system and method

A tracking-enabled extended-reach tool system for acting upon a workpiece, the tool system comprising:

• a gimbal configured for positioning adjacent an opening in a surface;
• an extended-reach arm having a first end and a second end;
• an end effector including a tool adjacent the first end of the extended-reach arm, wherein the tool is moveable to operate upon the workpiece and the extended-reach arm engages the gimbal for rotational movement and slidable movement through the opening to position the end effector and the tool on a side of the surface opposite the second end;
• a sensor system configured to measure a linear position of the extended-reach arm relative to the gimbal, and a position and spatial orientation of the tool relative to the opening;
• a computer control in communication with the tool and is configured to instruct the tool to operate upon the workpiece, wherein the computer control is configured to receive signals from the sensor system indicative of the linear position of the extended-reach arm relative to the gimbal and one or both of the position and spatial orientation of the tool relative to the opening, wherein the computer control determines a position or an orientation of the tool relative to the opening and to the workpiece in real time;
• and
• a display connected to the computer control and configured to display a representation of the workpiece and the tool relative to each other in real time.