Telekinesis Agentic Skill Library

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Get Actual Tool Accelerometer ​

SUMMARY

Get Actual Tool Accelerometer returns the three-axis acceleration values measured by the accelerometer built into the robot's tool flange. The result is a 3-element list [ax, ay, az] in m/s².

Use this skill to detect vibrations, impacts, or dynamic loads at the tool during motion.

SUPPORTED ROBOTS

This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.

The Skill ​

python
acc = robot.get_actual_tool_accelerometer()

The Code ​

Example: Read the Tool Accelerometer Values ​

Connect to the robot, read the tool accelerometer, and log it.

python
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots

robot_ip = "192.168.1.2"  # replace with your robot's IP

robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)

acc = robot.get_actual_tool_accelerometer()
logger.info(f"Tool accelerometer [ax, ay, az] (m/s²): {acc}")

# Disconnect
robot.disconnect()

The Explanation of the Code ​

get_actual_tool_accelerometer returns a 3-element list [ax, ay, az] of acceleration values measured by the tool flange accelerometer, in m/s². At rest in the standard upright configuration, the Z axis will read approximately 9.82 m/s² (gravity). The values include both gravitational and inertial acceleration components.

How to Tune the Parameters ​

This skill takes no parameters.

Return Value ​

TypeDescription
list[float]3-element list [ax, ay, az] of tool accelerometer readings [m/s²].

Where to Use the Skill ​

  • Vibration monitoring — Detect tool vibrations during high-speed motion or machining
  • Impact detection — Identify sudden acceleration spikes that indicate unintended contact
  • Gravity estimation — Use at rest to estimate the tool orientation relative to gravity

When Not to Use the Skill ​

Do not use Get Actual Tool Accelerometer when: