Evaluation of

Dynamics
Robo India
www.roboindia.com

Introduction
The study of the causes of motion and
changes in motion is Dynamics.
Our points of concern of Dynamics:
Acceleration.
Angular velocity.
Position and Orientation.

Required Instruments
The evaluation procedure will require
following instruments/devices.
1. Accelerometer
2. Gyroscope
3. Inertial Measuring Unit

Accelerometer | Introduction
Accelerometer is a device that
measures acceleration with respect to
gravity free space reference (free fall
reference).

A typical concept of accelerometer

Draw backs of typical accelerometer

It would be more complex for
multiple axis.
Measurement would be more
complex.
Difficult to fit in applications.
Maintenance would be high.
Micro Electro Mechanical System
(MEMS) accelerometer sensors
overcome all such limitations.

MEMS Accelerometer
MEMS accelerometer are very tiny
electromechanical sensors that gives
output
in
electronic
form(i.e.
voltage/current) .
Types of MEMS accelerometers:
Capacitive
Piezoelectric
Piezoresistive etc.

Capacitive Accelerometer
In capacitive accelerometer micro-machined
silicon material is used. The distance between
these materials varies with the acceleration
faced by the accelerometer that causes to
change the capacitance which leads to
change output voltage. The particular output
voltage defines a particular acceleration.
Out put can be:
1. Analogue
2. Digital

Useful Terminologies
Output: accelerometer sensor gives voltage output
that indicates the acceleration faced by the sensor in
terms of g (acceleration due to gravity (g) = 9.81
m/sec2).
Sensitivity: The rate of change in output voltage
with the acceleration. (Unit: mV / g)
Ratiometricity: It means a linear relation between
output voltage and sensitivity with respect to change
in applied supply voltage.
Zero g (0g): standard output voltage that represents
a gravity free space, means the accelerometer is
facing no acceleration.

Capacitive Accelerometer | Concept

Acceleration Measurement

Measurement of angle &

acceleration
Accx =( Vx V0 ) / Sensitivity

R=

Accy =( Vy V0 ) / Sensitivity

Ax = cos-1(Accx / R)

Accz =( Vz V0 ) / Sensitivity

Ay = cos-1(Accy / R)

( Accx2 + Accy2 + Accz2)

Az = cos-1(Accz / R)

Where:
Vx, Vy, Vz : Output for respective axis
V0 : Zero g
ACC x, ACCy, ACCz : Acceleraton of respective axis
R : Resultant Vector
A x, Ay, Az : Angle about respective axis

Application of Accelerometers
Engineering: to detect acceleration, engine
testing, air bag operations, breaking system
and various industrial applications.
Robotics: Motion sensing, hand held devices
to save battery consumption.
3D-Gamming: Tilt & motion sensor
Cell phones / PDA : Screen orientation,
gamming sensor,
image stability
Navigation and dead reckoning: ecompass
Laptop PCs, HDD audio and video player:
Free fall detects to prevent data damaging in

Gyroscope
Gyroscope is a device that resists to change its
position, its position doesnt change with the
changes occurs in external surroundings. This
property helps extremely in determining the
angular velocity for the balancing, landing,
turning and taking off of air-vehicles.

MEMS Gyroscope
Electronic(MEMS)
gyroscope
sensors
are
different from the traditional and mechanical
gyroscopes. A very tiny IC (Plastic Land Grid
Array, LGA package) does the same work and
gives output in the desired manner, which
makes the electronic gyroscope very easy to
use in automation.
MEMS Gyroscope works on the Coriolis force
concept. A driving mass is kept in continuous
oscillating movement, the driving mass acts as
sensing element and reacts to the applied

Measuring Gyro output

Angular velocities:
x = (Vx-V0)/Sensitivity

y = (Vy-V0)/Sensitivity

z = (Vz-V0)/Sensitivity

/sec

Position:

/sec

/sec

Where:
Vx , Vy & Vz :Output voltages for X,Y
axis.

and Z

x , y & z :Angular velocities about X, Y & Z axis

x, : new and old position
: Time difference

Application of Gyroscope

Spaceship
Ship / and motor boats
Airplanes
Unmanned air vehicles
Racing cars
Gamming consoles
Robotics
Dead reckoning (vehicle navigation)
Motion sensing in mobile phones and PDAs

Inertial Measuring Unit (IMU)

Inertial Measuring Units are the integration of
Accelerometers and Gyroscopes that measures
velocity, orientation, acceleration, angular
velocity and gravitational force.
Why IMU?
Advantages of IMU
Requirement of filter

Kalman Filter
Kalman Filter was proposed by HungarianAmerican engineer Rudolf Emil Kalman.
Kalman Filter is a mathematical estimation
algorithm that involves a wide range of
processes and applications.
The Kalman Filter has
main
function
of
combining
the
measurement
of
time
series data of the same
variables but from the
different sensors and to
forecast the state. It

Kalman Filter

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