据此提出了一种自适应距离保护方法，根据误差的大小调整动作门槛。
A novel adaptive distance relay approach which can adjust action thresholds according to the error is proposed.
由于六轴平台的控制动作是由逆运算方式求得，造成位置误差会呈现累积现象。
The action controller of Stewart Platform is calculated by inverse kinematics and it is why we count up the error.
本文依据动作可靠性的基本概念，结合机器人动作可靠性评价的基本要求，建立了机器人运动误差分析模型。
According to the concept of motion reliability, an analysis model for movement error is established by considering basic requirement of robot motion reliability in this paper.
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