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 13

Position and orientation measurements on the compound movement test at 100% robot speed. (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)