中文摘要：

提出一种基于误差模型的机器人运动学位置参数和角度参数分离标定方法．利用MCPC（modifiedcomplete and parametrically continuous）方法建立机器人运动学方程，推导相对于惯性坐标系的机器人运动学误差模型，提出将位置参数与角度参数分离的运动学参数标定方法．为了解决标定过程中关节角度误差问题，设计一套基于关节角度校正的机器人运动学参数标定实验方法．实验结果验证了所提出方法的有效性．

英文摘要：

A method of robot kinematics parameters calibration based on error model is proposed, which separates posi-tional parameters and angle parameters in calibration process. Robot kinematics equations are built using MCPC （modified complete and parametrically continuous） method, while kinematics error model relative to inertial coordinate system is de- rived. On the basis, the separated kinematics parameters calibration method is put forward. In order to solve the problems caused by joint angle error during calibration process, experimental methods for robot kinematics calibration based on joint angle correction are designed systematically. The effectiveness of the mentioned methods is verified by experiment results.