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For Node a1
For Node b1
Causes for Error
Hardware wise, the errors are caused by the oscillation of the sensors when the 4 bar linkage is moving to obtain data. The frictions in the pins will also prevent the experimental results to deviate from the theoretical results from MATLAB, where MATLAB is based purely on kinematics (which doesn't consider forces, or how things started to move).
Software wise, the errors are from the error propagation in rounding and smoothing of the data from the sensor. The sensor themselves have a lot of noise (especially accelerometer) and the gyroscope sensor is known to drift. Although all of these problems was corrected to a certain extend in the MATLAB code when I processed the data. But without prior knowledge on data processing, the filters are definitely not perfect.