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本文在刚性机器人精度分析的基础上，结合柔性机器人的研究成果，对机器人位姿误差的分析与综合作了较为系统的研究。
The analysis and synthesis of pose error of robots on the basis of accuracy analysis of rigid robots combining with achievements in research of flexible robots have been studied systematically.
传统上，机器人很硬，由金属和其他刚性材料制成。
Traditionally, robots have been very hard, made of metal and other rigid material.
这用刚性轴承是难以实现的，它将衍生出一种全新的移动模式，机器人将或走或滚，全看哪种方式更合适而已。
This is hard to achieve with rigid bearings and could lead to strange new modes of locomotion, allowing robots to walk or roll, depending upon which is more appropriate.
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