The interpolation precision was improved by introducing error compensation and solving the matrix equation after interpolated points' parameter had been computed roughly.

该算法是在粗确定插补点参数后，引入误差补偿值，通过求解矩阵方程提高插补点的计算精度。

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The error calculating method using the homogeneous coordinate transformation matrix together with forward and inverse kinematics and the corresponding error compensation strategies were proposed.

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；

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Necessary cycle detection is added to avoid the singular matrix appearing after gross error compensation,. Simulation results verify the effectiveness of modified algorithm.

通过加入必要的回路检测，避免了幅度补偿后矩阵奇异性的产生，仿真结果表明了改进算法的有效性。

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