中文摘要：

为了获得准确的机器人运动学参数，提出了一种机器人运动学参数递推标定方法．基于机器人运动学模型，建立了相邻连杆局部坐标系误差模型，进而提出了从末端连杆坐标系至基坐标系进行运动学参数递推标定的方法．以八自由度机器人为研究对象，在利用激光跟踪仪建立连杆坐标系的基础上，通过实验验证了运动学参数递推标定方法的有效性和实用性．

英文摘要：

Derived from end-effecter coordinate system to base coordinate system, a recursive calibration method for robot kinematics parameters is proposed aiming to obtain accuracy robot kinematics parame- ters. Based on robot kinematics model, an error model of local coordinate systems between adjacent joints is constructed. Taking an 8-degree of freedom robot as research object, the link local coordinate systems are constructed with laser tracker. Then experiments are taken out, and the effectiveness and practicality of the recursive calibration method are verified.