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. 2022 Sep 13;12:14827. doi: 10.1038/s41598-022-17679-x

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© The Author(s) 2022, corrected publication 2022

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Representative motion of the sampling tool within its workspace based only on feedback from a high accuracy IMU and recorded using a motion capture system. The natural equilibrium point is at (0,0). The experiment starts with a 90° rotation around the z axis, followed by a forward movement along the x-axis of the Mamba and a lateral movement along its y-axis. The system then maintains this position for 30 s without any user inputs. Produced in MATLAB R2021a.