as you can see in the attached picture, the system consists of two links. Both links rotate around x. The center of gravity is marked with yellow points.
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 increases on the second axis, (which isnt moving) while the first moves.
So actually, the increment of the second roll value is right, since it actually rotates with the first axis. However, the second roll should stay at 0, when only the first axis rotates. Am I missing something here or it is just not feasible?
To measure I am using MPU6050 with the standard DMP6 script.