On the basis of the robot kinematics and the theory of errors, formulas for calculating the position and orientation errors of the robot end effector are derived.
本文以机器人运动学及误差理论为基础，推导出了在各种位姿描述情况下机器人位置和姿态误差的计算公式。
From the view of kinematical unit and kinematical characteristics of the robot end effector, a novel method for the direct solution of type synthesis of parallel robot was brought forth.
从机器人运动单元和机器人末端运动特征出发，给出了并联机器人的构型正解新方法。
The effects of the joint clearance variables to the position repeatability of the robot end effector are analyzed using a two-dimensional vector method to define the joint clearance variables.
对关节间隙变量采用二维矢量表示法，分析了机器人关节间隙对机器人末端位置重复精度的影响。
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