中文摘要：

在分析了常用几种误差补偿方法的基础上,指出基于轮廓度误差的误差补偿方法的不足.从轮廓精度与位姿误差无关的特性出发,提出了一种直接面向轮廓精度控制的误差补偿方法——几何自适应误差补偿,论述了该方法的两个组成部分——轮廓匹配和误差预估,推导出效率很高的轮廓匹配公式.仿真结果表明：所提方法可以减小轮廓误差,提高轮廓精度,并能实现高精度轨迹控制.

英文摘要：

Several error compensation methods which are often used are explored in this paper, the deficiency of compensation methods based on profile error is pointed out. Based on the character that contour accuracy is independent of pose error, a novel error compensation method is presented which directly aims at contour accuracy control, which is named geometry self-adapting error compensation. This method is described which consists of contour matching and error prediction. The formula for contour matching is developed whose efficiency is great. The simulation result indicates that the method can reduce contour error and improve contour precision to achieve the high precision trajectory control.