从上面的数据可以看到，模拟时得到的结果总与测得的坐标有小的偏差。原因可能出在校准，计算时丢失精度，以及机械臂的初始值有关。

　　在逆向运动时数据也不完全一样，主要原因可能是机械臂的多解特性。

比较有效的解决方法是先根据MOTOMAN 传感器得到的数据进行计算获得度略的角度，然后将角度输入机械臂各个关键观察实际位置与理想位置的偏差，最后将偏差值输入程序进行校准。

-From the above data we can see that the results obtained when the simulation has a small deviation　the measured coordinates. The reason may be that the accuracy of the calculation is lost, and the initial value of the manipulator is related to the calibration.



In reverse motion data is not exactly the same, the main reason may be the mechanical arm of the multiple solutions.



Effective solution is according to the Motoman sensor data are calculated to obtain a degree of angle, then the angle input mechanical arm of each key to observe the deviation of the actual position and the ideal position. Finally, the deviation of the input program for calibration.