In industry environment, the robotic arm need grasp or put something in the narrow space such as cabinet. For most applications, the control system need use the camera to calculate the box space and its orientation. But when the robotic arm reach into the narrow space, the RGBD sensor can't work, and the robotic arm may be easy to touch the boundary of the space, it's dangerous for the robotic arm. This paper propose a method to calculate the relation position and orientation of robot terminal in narrow space, it use distributed distance sensor to feedback the distance between each sensor point to space wall. This paper use the particle filter to track related orientation and position. Several experiments on robotic arm have been carried out, demonstrated control algorithm for this application.