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 error calculating method using the homogeneous coordinate transformation matrix together with forward and inverse kinematics and the corresponding error compensation strategies were proposed.
依据映射的变换方向不同，论文提出了非均匀映射实现的两类算法：正向算法与反向算法。
According to this ring and mapping direction we classify the mapping transformation into two sorts: forward algorithm and reverse algorithm.
依据映射的变换方向不同，论文提出了非均匀映射实现的两类算法：正向算法与反向算法。
According to this ring and mapping direction we classify the mapping transformation into two sorts: forward algorithm and reverse algorithm.
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