Firstly by virtue of matrix differential algorithm to find the error expression of platform and than let the maximum error to be acted as the objective function, besides the parametric errors of each structure, position and posture of the platform were be
Firstly by virtue of matrix differential algorithm to find the error expression of platform and than let the maximum error to be acted as the objective function, besides the parametric errors of each structure, position and posture of the platform were be
首先借助矩阵微分法求出平台误差表达式，将最大误差作为优化目标函数，除了各结构参数误差外，还将平台的位置和姿态列入优化变量。