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根据机器人误差模型和实测的误差数据，采用最小二乘和迭代辨识的方法，求解未知参数，并以实例验证了该方法的有效性．
According to the error model of the robot and the measured error data, the least square and iterative method are used to solve the unknown parameters. The effectiveness of the proposed method is verified by an example.