中文摘要：

根据二维转台的结构特点,建立了它的空间坐标系。基于多体系统运动学理论,建立了转台的数学模型,并推导出它在静止和运动两种状态时的4×4变换矩阵,从而计算出转台设备轴的理论指向和实际指向之间的误差。最后,采用逆分析的方法分析了转台在静止时的误差补偿问题,对提高转台设备的指向精度具有一定的意义。

英文摘要：

Space coordinate system is built according to the structural features of the high-accuracy 2D turntable. Based on the multi-system kinematics theory, the mathematical model of the turntable is established, and Denavit-Hartenberg transformation matrix is deduced at both the dynamic and static states for calculating the pointing error. With inverse analysis method, we analyze the static error compensation for the turntable to improve the pointing accuracy.