The error calculating method using the homogeneous coordinate transformation matrix together with forward and inverse kinematics and the corresponding error compensation strategies were proposed.
提出了利用齐次变换矩阵和正向、逆向运动学相结合的误差计算方法以及相应的误差补偿策略；
The inverse transformation equation is given by applying Newton method in numerical analysis.
利用牛顿迭代法推导出逆变换方程。
Under the ordinary exciting signal, this method of calculation is just in the same form as that for inverse Laplace transformation of rational fraction by partial fraction expansion.
当激励信号是常见信号时，本文提出的方法与求有理分式的拉氏反变换的部分分式展开法在形式上完全相同。
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