Calculation of angular velocity, angular acceleration and torque of two common point rigid bodies using IMU

Abstract

This study aims to calculate the angular velocity, angular acceleration, and torque of two rigid bodies that share a common point using instantaneous sensor measurements. The goal of this approach is to produce outcome measurements free from accumulated error. IMU sensors and accelerometers have been used to capture real-time data. This arrangement applies to cases such as when the bodies are connected by a ball-and-socket joint, a Hooke joint, or a revolute joint, especially where it is impractical to use a joint measurement sensor between the bodies the relative motion of human limbs. The proposed system has been designed, built, and tested in a lab, which showed satisfactory results. The proposed sensor assembly overcomes these limitations. The case study showed accurate data capturing without any limitations. This paper has also demonstrated various formulas and algorithms that can help to calculate both robot parameters with these different sensors, which help to ind out angular acceleration, torque, and angular velocity for smooth and reliable operations. The proposed circuitry system and algorithm showed very accurate results of these parameters.