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 3

RMS errors of position and orientation measurements on the independent movement test.

Observed data	RMS errors
(mm)	1.4054
(mm)	0.5842
(mm)	1.0868
IMU roll (°)	0.5177
IMU pitch (°)	0.1401
IMU yaw (°)	0.2259
Measured yaw (°)	0.1331