How to get translation and roation data using 6DOF MPU6150
I have never worked with this component before. 

First off, you may or may not realize, but it is impossible to measure exact position with the gyro &amp; accelerometer, but only change in position. The gyroscope will give you orientation, but if you are not moving, or moving with negligible acceleration, the 3-axis accelerometers in your MPU-6150 will not give any signal.

I would suggest to look at the datasheet. Which I found here: 

http://www.invensense.com/mems/gyro/documents/PS-MPU-6100A.pdf

By the looks of it the device will use an I²C Bus which you will have to use to communicate between the two embedded devices.

Hope it helps