Method to Estimate the Position and Orientation of a Triaxial Accelerometer Mounted to an Industrial Manipulator, Report no. LiTH-ISY-R-3025

A novel method to nd the orientation and position of a triaxial accelerometer mounted on a six degrees-of-freedom 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 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 identication and in advanced control solutions. Compared to previous methods, the sensor position estimation is completely new, whereas the orientation is found using an analytical solution to the optimisation problem. Previous methods use a parameterisation where the optimisation uses an iterative solver.