Research Article
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
Table 1
Properties of the ADIS16480 MEMS IMU [
29].
| Property | ADIS16480 |
| Angular random walk | 0.3°/√hr | Velocity random walk | 0.029 m/sec/√hr | In-run bias stability | 6°/hr | | Roll | Pitch | Yaw | Accuracy | Static | 0.1° | 0.1° | 0.3° | Dynamic | 0.3° | 0.3° | 0.5° | | Gyroscope (°/sec) | Accelerometer (g) | Magnetometer (mGs) | Dynamic range | ±450 | ±10 | ±2500 | Output noise | 0.16 | 0.0015 | 0.45 | Filter options | Adaptive extended Kalman filter (EKF) |
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