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Design of 6-DOF accelerometer and application in impedance control of manipulators with flexible joints

This paper is to introduce a 6-DOF acceleration sensor by utilizing multiple linear accelerometers, which possesses the advantages of small volume, high reliability and easy-to-integrate, etc. A cylindrical spatial geometrical configuration is proposed as the distribution basis of linear accelerometers, which avoids the accumulative errors arising from the integral operation. Moreover, error model of the sensor is deduced and calibrated for further error compensation. Static experiments illustrate that errors of the sensor are compensated effectively. In order to compensate the inertial force and attenuate the bounce of end-effector at the contact transition instant of impedance control, a Kalman filter is adopted to compensated the inertial force of end-effector, which fuses tip position, orientation, acceleration and force/torque. Experimental results indicate the effectiveness of the proposed acceleration sensor, and the inertial force of the end-effector can be compensated effectively in impedance control.