Based on transmission model of robot pose information and pose accuracy evaluation index system which have been studied, this paper derives the formulae of main pose accuracy evaluation index using planar SCARA robot as an example.

• 摘要基于机器人位姿信息传输模型及所研究的位姿精度评价指标体系，本论文以平面SCARA机器人??例，推导了主要位姿精度评价指标的计算公式。