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 1

Properties of the ADIS16480 MEMS IMU [29].

Property		ADIS16480
Angular random walk		0.3°/√hr
Velocity random walk		0.029 m/sec/√hr
In-run bias stability		6°/hr
		Roll	Pitch	Yaw
Accuracy	Static	0.1°	0.1°	0.3°
	Dynamic	0.3°	0.3°	0.5°
		Gyroscope (°/sec)	Accelerometer (g)	Magnetometer (mGs)
Dynamic range		±450	±10	±2500
Output noise		0.16	0.0015	0.45
Filter options		Adaptive extended Kalman filter (EKF)