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This paper identifies the minimum number of accelerometers necessary to measure rigid body acceleration. Notwithstanding that only 9 scalar unknowns must be identified, 12 devices compose a minimum set of transducers. This redundancy is necessary to avoid singularities in the equations. Conditions for the sensor placement are given. It is also shown that when the determination of the angular velocity is not required, a reduced set of 9 sensors can be adopted.

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In this paper we present a new friction model for industrial robot manipulators that takes into account temperature effects. In particular, after having shown that friction might change very significantly during robot operations, two solutions based on a polynomial description of the joint friction are proposed and compared. In both cases the models proposed do not need a measurement of the joint temperature, but just of the environmental temperature, so as to be easily applied in industry. Experimental results demonstrate the effectiveness of the applied methodology

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