首先结合多体系统理论和齐次坐标变换建立目标机床的误差模型；
The first work was to build an error model of target machine tool by combining the multi-body system theory and homogeneous coordinate transform.
深入分析了多轴数控机床的结构特点，提出了基于多体系统理论的多轴数控机床描述方式。
We have studied the modeling technique and the regularity of the machining errors for multi-axis NC machine tools based on the analysis of their structures.
基于对多体系统理论，以三轴加工中心误差模型及参数辩识为基础，建立了四轴联动加工中心运动误差模型。
Based on the theory of Multi - body system and the error model and identification of 3-axis machining center, the error mall of 4 - axis machining center is built.
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