Calibration Method of MEMS Gyroscopes Using a Robot Manipulator Figure 5. Scheme of the required rotations of the modified six-position method. should be carried out according to Table 2 for three different orientations indicated in Figure 5. CALIBRATION PROCEDURE Taking into account the above requirements, the following test procedure is proposed: 1) Install the mounting plate N 2 as shown in Figure 4. Also ensure their fixation to the robot wrist with fasteners. 2) Install the Strapdown INS in one of the three known positions shown in Figure 5 on the front surface of the adapter N 1. 3) Perform an external inspection of the mounting setup in order to identify defects in the parts connected to each other. 4) Connect the power supply to the Strapdown INS microcontroller and make sure that the connection between it and the PC is secured and stable. 5) Run the software for periodic data flow from the INS sensors with automatic saving to a file on the PC. 6) Run the robot program for nonstop rotation around J6 for one minute. 7) Repeat last step for different speed limits according to Table 2. 8) Repeat steps 2-7 for all three different axis orientations in accordance with the diagram in Figure 5. 9) Launch the software for processing raw data and its subsequent calibration. TERMINATION OF TESTS, DATA PROCESSING, AND EVALUATION OF RESULTS The initial data for determining the calibration coefficients are the results ofthe experiment and the angular rate set by the robot manipulator. The processing of test results is carried out in the following order: 24 Figure 6. Angular errors in Fanuc M-10iA joints. Table 2. Test Sequence N Angular rate partial limitation for J6 11% 23% 35% 10% 15% 4 5 IEEE A&E SYSTEMS MAGAZINE Angular rate,/s 6 18 30 60 90 MARCH 2023 1) The matrix U is filled with sensor output data at all specified speeds. 2) A preliminary analysis is carried out for the rejection ofanomalous measurements. 3) Matrix A is filled in according to formula (5) and Table 2. 4) According to formula (4), the matrix of calibration coefficients is calculated. 5) The calibrated sensor data are calculated by the expression (7). Anomalous measurements, such as outliers, are handled by detecting those measurements that does not follow