Design of a String Encoder-and-IMU-Based 6D Pose Measurement System for a Teaching Tool and Its Application in Teleoperation of a Robot Manipulator

Figure 11

Position and orientation measurements on the independent movement test. (a) position measurement. (b) position measurement. (c) position measurement. (d) Roll angle measurement. (e) Pitch angle measurement. (f) Yaw angle measurement.

(a)

(b)

(c)

(d)

(e)

(f)