为了满足机器人在线实时控制的要求及进一步提高运算精度，提出用迭代计算进行误差补偿的方法。
In order to meet the request of on-line and real-time control of robot and enhance the precision it puts forth way of error-compensation using repetitious calculation.
提出了实时测量机床主轴回转误差的原理和方法，建立了工件圆度及圆柱度在线测量及补偿控制系统。
The in-process measurement principle for the spindle rotation error is presented and the roundness and cylindricity on-line measurement and compensatory control system is developed.
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