Research Article Analysis of control and correction options of mobile robot trajectory by an inertial navigation system Elena Pivarc ˇiova ´ 1 , Pavol Boz ˇek 2 , Yuri Turygin 3 , Ivan Zajac ˇko 4 , Aleksey Shchenyatsky 3 ,S ˇ tefan Va ´clav 5 , Miroslav Cı ´sar 4 and Boris Gemela 6 Abstract The article deals with the research of the supplementation of industrial robot effector trajectory’s control systems by an inertial navigation system. The method of reverse validation and location of an object in a navigated reference system does not require additional calibration. The goal of the research is to verify the assumption that it is possible to control and correct the programmed mobile robot trajectory by implementing an inertial navigation system even in a case when the inertial navigation system is used as the only trajectory control device. The data obtained are processed by the proposed and detailed application. Keywords Inertial navigation system, trajectory, robot, AL5B, x-IMU Date received: 27 September 2017; accepted: 10 December 2017 Topic: Special Issue – Mobile Robots Topic Editor: Andrey V Savkin Associate Editor: Michal Kelemen Introduction The first and still significant area of robot research and development was their deployment in an industry. At the beginning, industrial robots performed simple manipula- tions of parts and materials or finished products. By gradu- ally improving their management, their application has been extended to the area of direct production. The chal- lenges that emerged from their roles have also revolutio- nized the control of robotic equipment management. The development and deployment of various sensors required considerable investments. Nowadays, when these systems are developed at a high technological level, there remains the possibility of looking for other, more affordable, track- ing, and correction solutions for the trajectory. The industrial robot, often referred to as the “working head,” is a power member of the robotic device—it per- forms the tasks defined by the production process. 1 Faculty of Environmental and Manufacturing Technology, Department of Manufacturing and Automation Technology, Technical University in Zvolen, Zvolen, Slovakia 2 Faculty of Materials Science and Technology in Trnava, Institute of Production Technologies, Slovak University of Technology in Bratislava, Bratislava, Slovakia 3 Faculty of Quality Management, Department of Mechatronic Systems, Kalashnikov Izhevsk State Technical University, Izhevsk, Russia 4 Faculty of Mechanical Engineering, Department of Automation and Production Systems, University of Zilina, Zilina, Slovakia 5 Faculty of Materials Science and Technology, Institute of Production Technologies, Slovak University of Technology, Trnava, Slovakia 6 E-GO s.r.o, Trnava, Slovakia Corresponding author: Elena Pivarc ˇiova ´, Faculty of Environmental and Manufacturing Technology, Department of Manufacturing and Automation Technology, Technical University in Zvolen, S ˇ tudentska ´ 26, 960 53 Zvolen, Slovakia. Email: pivarciova@tuzvo.sk International Journal of Advanced Robotic Systems January-February 2018: 1–15 ª The Author(s) 2018 DOI: 10.1177/1729881418755165 journals.sagepub.com/home/arx Creative Commons CC BY: This article is distributed under the terms of the Creative Commons Attribution 4.0 License (http://www.creativecommons.org/licenses/by/4.0/) which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages (https://us.sagepub.com/en-us/nam/ open-access-at-sage).