Let us assume we have a two 2-DoF robot. Both axes rotate around x.
And the goal is to measure the joint angle values with the roll value from IMUs attached on each link.
However, the problem is that the roll value of the second IMU also increases whenever the first axis rotates.
Am I missing here something?
Above you can see the two links. The yellow points are the center of gravity points where the mpu-6050 is placed on. So whenever the first axis rotates, the second roll is changing...I am not using any fancy algorithm to measure the roll, just the standard MPU6050_DMP6.