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 2

Positions (in mm) of the wire starting points on the movement record cabinet in the sensor coordinate system.

Sensor number	position (mm)	position (mm)	position (mm)
S1	0	0	0
S2	0	0	0
S3	0	0	434
S4	0	1378	0
S5	0	1378	0
S6	-400	1378	0