Combining its real geometrical structure, a polishing robot's errormodel is established and a single point method is used to identify the geometrical parameter errors.
本文首先结合某打磨机器人的实际几何结构，建立了该机器人的误差模型，利用单点法来辨识几何参数误差值；
2
Many single BP networks make up of predictive model paratactically, each predictive model can not be affected each other, so the error is not accumulate.
由多个单独BP 网以并行方式构成预测模型，各子预测模型间无直接影响，因此没有误差积累。
3
Then, the whitened dimension-reduced data vector as a single user model is looked, the Iterative Least Squares (ILS) detection and Minimum Mean Square Error (MMSE) detection are researched.