Performance of an Inclinometer for Inertia-Based Robotic Stability Monitoring System Under Cross-Axis Angular Deviations

Autonomous heavy machinery and mobile robots require accurate real-time angular state monitoring to ensure stability and prevent tip-over accidents. However, sensor mounting imperfections and operating on slopes can introduce cross-axis distortions in inclination readings. This research investigates the angle tracking accuracy and cross-axis resilience of the IFM JD1121 industrial single-axis dynamic inclinometer. Experimental validation is performed on a custom mechatronic test stand driven by a stepper motor executing a repeatable 30 s motion profile from −30° to +90°. Cross-axis interference is evaluated across automated multi-trial runs under fixed lateral angular offsets of 0°, 10°, 20°, and 30°. A preliminary field test is conducted on a mobile demolition robot using a camera-tracked ArUco marker as an optical reference. Inclinometer performance is evaluated using statistical metrics, including maximum error, mean error, mean absolute error, and SD. Quantitative cross-axis sensitivity analysis revealed low coupling coefficient, while equivalence testing (TOST) confirmed that lateral roll offsets up to 30° cause very small degradation in pitch accuracy. The preliminary field test indicated stable on-platform tracking, supporting further development of the sensor for anti-tip safety monitoring in industrial mobile platforms/robots and heavy machinery.