Heisenbergs uncertainty relations for measurement quantify how well we can jointly measure two complementary observables and have attracted much experimental and theoretical attention recently. Here we provide an exact tradeoff between the worst-case errors in measuring jointly two observables of a qubit, i.e., all the allowed and forbidden pairs of errors, especially asymmetric ones, are exactly pinpointed. For each pair of optimal errors we provide an optimal joint measurement that is realizable without introducing any ancilla and entanglement. Possible experimental implementations are discussed and Toronto experiment [Rozema et al., Phys. Rev. Lett. 109, 100404 (2012)] can be readily adapted to an optimal joint measurement of two orthogonal observables.
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