Meanwhile, the error magnification phenomena have been discussed and the corresponding resolvent has been proposed as well.

同时，讨论了重建过程中的误差放大现象，给出了解决方案。

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An optimization approach for minimizing the kinematics error magnification from the linkage variation to the end-effector position is studied based on the graphical design method.

基于此方法，提出了一种优化途径，用以最小化由连杆长度误差至末端执行器运动学位置误差之间的误差放大倍率。

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