I have an IMU attached to each of the segments of a robotic arm, which gives me accelerometer and gyroscope data. My goal is to first of all improve the quality of the sensor readings and subsequently get the angles of each of the joints.
I'm new in robotics, but as far as I can see, I need a sensor fusion algorithm (e.g., complementary filter or Kalman filter) to improve the quality of the sensor readings. Subsequently, how can I calculate the angles between each of the joints using this data?
Can this be done in one go (i.e., can you use the output of the complementary filter to get the angles)? Are there reference implementations in Python available?