What is the use of accelerometer on uarm?

Greetings team.
As per the firmware I can see accelerometer being used in uarm.
Are there any actually used??
According to my understanding the accelerometer is used for knowing the position of uarm in space,am I right??
If so then how many do you use and where are they located.
Thanks in advance.

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Hi, there is no accelerometer in the uArm.