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Realtime tracking of tool position / orientation

I would like to collect a log of the encoders' position with some reasonable sampling frequency (10Hz? 50Hz? 100Hz?) while the arm is moving. Realtime streaming would be best but an offline log with timestamps in known time domain would be ok too, at least to start! :)

What would be a good way to approach this?

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ANNIN ROBOTICS

Realtime tracking of tool position / orientation