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。
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；
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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