Modelling an IMU (accelerometer, gyroscope) in Simmechanics

Hi, Im looking to do a robot in which there are IMU placed in the end node of each link. These IMU will consist of accelerometers and gyroscopes, that can sense the experience accelerations and velocities.

It is possible to find the angular velocities from the revolute joints, but I have no idea how to sense the accelerations due to gravity, centrifugal force etc without calculating this using external functions. I.e. I would need to find the rotation matrices, and setting up a formula just as I would do in Matlab.

Does anyone know how I may solve this? The accelerometer etc in Simulink only senses the actual accelerations, not the experienced accelerations as centrifugal, coriolis and gravity acceleration.

BR, Johan

[NIlav Ghosh]

Hey Johan, How did you manage this. I guess one solution would be to use the accelerometer sensor in Sim electronics.