Estimation of Orientation and Position of an Accelerometer Mounted to an Industrial Manipulator

A method to find the orientation and position of a three degree-of-freedom (DOF) accelerometer mounted on a six DOF industrial robot is proposed and evaluated on experimental data. The method consists of two consecutive steps, where the first is to estimate the orientation of the sensor using data from static experiments. In the second step the sensor position relative to the robot base is identified using sensor readings when the sensor moves in a circular path and where the sensor orientation is kept constant in a path fixed coordinate system. Once the accelerometer position and orientation are identified it is possible to use the sensor in robot model parameter identification and in advanced control solutions.Vinnova Excellence Center LINK-SI