振动控制并联机器人的标定综述

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在分析和总结现有并联机器人运动学标定方面资料的基础上，简述了影响并联机器人运动精度的误差来源和标定准则，详细介绍了不同运动学参数标定法的特点，并提出了当前用于振动抑制的并联机器人运动学标定的难点。 By investigating the previous datum about kinematic calibration of parallel mechanism, the error source affecting moving precision of parallel mechanism and calibration criterion were introduced. The kinematic calibration methods were classified the characteristics of each method were illustrated. Some research difficulties of parallel mechanism for vibration isolation were proposed.