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本文应用严密的数学理论和最小二乘误差理论,推导出用于评价机器人直线运动轨迹成形精度的空间最小二乘直线的通用求解方法。该方法具有求解精度高、算法简便、通用性较强的优点。
In this paper, a rigorous mathematical theory and the least-squares error theory are used to derive a general solution to the space least squares straight line used to evaluate the accuracy of robot trajectory. The method has the advantages of high solution accuracy, simple algorithm and strong universality.