MHCL 2026 conference
50th Anniversary (1976–2026)

Marko Milovan Todorović
Teaching Assistant
Faculty of mechanical and civil engineering in Kraljevo, University of Kragujevac

Milan Bižić
Associate Professor
Faculty of mechanical and civil engineering in Kraljevo, University of Kragujevac

Goran Marković
Full Professor
Faculty of mechanical and civil engineering in Kraljevo, University of Kragujevac

Nebojša Zdravković
Associate Professor
Faculty of mechanical and civil engineering in Kraljevo, University of Kragujevac

Mile Savković
Full Professor
Faculty of mechanical and civil engineering in Kraljevo, University of Kragujevac

Predrag Mladenović
Teaching Assistant
Faculty of mechanical and civil engineering in Kraljevo, University of Kragujevac

Gravity compensation in acceleration measurements using MPU 6050 6-axis accelerometer

Logistics and Intralogistics Systems

Acceleration measurements are essential for many fields of application such as robotics, navigation, machinery tracking, etc. All acceleration measurements done within the gravitational field of the planet will contain the gravitational component which, unless the gravitational acceleration was the subject of measurement, needs to be eliminated from the results. When the movement of the object to which the sensor is attached to is performed within a single plane, and the sensors local coordinate system is position in such way that its two axes are parallel to the motion plane and do not detect any gravitational acceleration, the gravitational acceleration compensation can be accomplished in a trivial subtraction from the measured acceleration along the axis perpendicular to the other two axes.