Circular motion experiment using accelerometer and gyroscope

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SUMMARY

The discussion focuses on estimating the length of a rigid body using an accelerometer and gyroscope during circular motion. The relationship between tangential velocity (v), angular velocity (ω), and the radius (R) is defined by the equation v = ω x R. The main challenge presented is the difficulty in isolating gravity from the accelerometer's output when its orientation changes, which complicates the calculation of tangential velocity. The user seeks clarity on whether it is feasible to derive tangential velocity solely from accelerometer data under these conditions.

PREREQUISITES
  • Understanding of circular motion dynamics
  • Familiarity with accelerometer and gyroscope data interpretation
  • Knowledge of vector mathematics, specifically cross products
  • Experience with integrating accelerometer output for motion analysis
NEXT STEPS
  • Research methods for filtering gravity from accelerometer data during orientation changes
  • Learn about sensor fusion techniques for combining accelerometer and gyroscope data
  • Explore the use of Kalman filters for motion estimation
  • Investigate practical applications of tangential velocity calculations in robotics
USEFUL FOR

Engineers, physicists, and hobbyists involved in motion analysis, robotics, or sensor integration who are looking to enhance their understanding of circular motion dynamics and sensor data processing.

epyd
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Hi all,

Currently, I'm doing an experiment to estimate length of a rigid body.
The approach is based on information from accelerometer and gyroscope while the rigid body is moved in circular way.

The relationship is: v = ω x R (all are vectors, and 'x' means cross products)

v = tangential velocity
ω = angular velocity (gyroscope output)
R = vector of the rigid body

However, I am confused about the 'v' (tangential velocity). I was trying to calculate it by integrating accelerometer output. But, as we know, in accelerometer's output we have to information, gravity and linear acceleration.

It is easy to remove the gravity from accelerometer output, if the orientation of accelerometer does not change. But, how can we remove the gravity when the orientation of accelerometer changes over the time ?

Is it possible to calculate tangential velocity using accelerometer?

Thank you
 
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I'm sorry, but it's very difficult to understand your experimental setup with the description you gave.
 

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