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 4

RMS errors of position and orientation measurements on the compound movement test at various robot speeds.

Observed data	RMS errors at various robot speeds
	20%	40%	60%	80%	100%
(mm)	4.3398	4.2952	4.3013	4.2866	4.3603
(mm)	2.7378	2.7135	2.6621	2.7068	2.7323
(mm)	4.5901	4.6159	4.5780	4.5721	4.7349
IMU roll (°)	0.5484	0.3009	0.2795	0.2657	0.3144
IMU pitch (°)	0.4362	0.3606	0.4358	0.5180	0.5627
IMU yaw (°)	7.4704	5.3151	3.7204	2.7342	2.0912
Measured yaw (°)	0.8195	0.7958	0.8306	0.8317	0.8390