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

<div>(a) Spray system. (b) Nozzle end-effector mounted to the robot. (c) Nozzle end-effector mounted to the teaching tool.</div>

Journal of Sensors

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Figure 5

Figure 5: 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 5 | 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 