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将误差理论中误差灵敏度的概念引入机器人学，提出了一种新的机器人位姿误差显著性分析法。此法可在整个工作空间内将机器人各单项误差对其末端位姿误差的综合影响定量地表示出来。通过对ＰＵＭＡ５６０机器人的计算机数字仿真研究，证明这一方法对于简化机器人误差模型与补偿算法、制定机器人的优化设计策略，具有事半功倍的效果。叙词
Introducing the concept of error sensitivity in error theory into robotics, a new method of saliency analysis of pose error of robot is proposed. This method can be quantitatively expressed in the entire work space by combining the single error of the robot on the pose error of its end. Through the computer numerical simulation of PUMA560 robot, it proves that this method has a multiplier effect for simplifying robot error model and compensation algorithm and formulating robot optimization design strategy. Thesaurus