机器人构件几何尺寸误差与关节间隙共同影响了机器人的定位准确度与精确度． 文中基于考虑关节间隙的误差模型，使用运动学标定的方法对上述两误差源进行了识别，分析了关节间隙对重复定位中误差分布规律的影响． 通过在逆运动学模型中补偿识别到的构件几何误差，以及将标定后的定位误差补偿到控制指令，提高了机构定位准确度;通过在控制中实时补偿关节间隙对定位误差的影响，提高了重复定位精确度．

For 3-RRR parallel robot,both geometrical dimensional error and joint clearance of component play arole in positioning accurately and precisely.In this investigation,based on the kinematic error model consideringthe joint clearance,these two error sources are both identifield through kinematic calibration and the influence ofjoint clearance on re-positioning error is analyzed.Then,the dimensional and residual errors are used to make upfor the inverse kinematic model and the desired position command respectively,thus improving positioning accuracy.Finally,based on the clearance error model,the re-positioning precision is improved when the compensation for theinfluence of joint clearance is done.