Estimation of Orientation and Position of an Accelerometer Mounted to an Industrial Manipulator, Report no. LiTH-ISY-R-2995

A method to nd 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 rst 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 identi ed using sensor readings when the sensor moves in a circular path and where the sensor orientation is kept constant in a path xed coordinate system. Once the accelerometer position and orientation are identi ed it is possible to use the sensor in robot model parameter identi cation and in advanced control solutions.