Numerical analysis and discussions of the position errors due to the joint clearances are given in the thesis. 將數值代入矩陣中，計算出因間隙而偏移的機構終點(diǎn)位置，討論間隙對于機構的位置誤差之影響。
Moreover, we apply the compliant motion control to both manipulators to compensate for the platforms' position errors while maintaining prescribed internal forces. 接著(zhù)，我們利用順應運動(dòng)控制于兩臺機器手臂來(lái)補償兩個(gè)移動(dòng)式平臺的位置誤差，同時(shí)保持預期的內力。
