[1] [1] Zhang G X. Coordinate Measuring Machin [M]. Tianjin: Tianjin University Press, 1999. (in Chinese)

[2] [2] JORGE S. A crenellated-target-based calibration method for laser triangulation sensors integration in articulated measurement arms[J]. Robotics and Computer-Integrated Manufacturing， 2011,27(2): 282-91.

[3] [3] LI K,LI J H,YANG X Q. An adaptive aenetic algorithm based on parameters cooperated with evolution[J]. Computer Simulation,2010(11):204-208. (in Chinese)

[4] [4] HUANG K, MO J H, YU L H et al.. Kinematic model and parameter calibration for flexible articulated coordinate measuring arm[J]. Journal of Xi＇an Jiaotong University,2010,44(8):122-126. (in Chinese).

[5] [5] LI H Y, LI SH CH, HU Y A.Stations optimized distribution of optoelectronic theologies based on genetic algorithm with optimal preservation and evolution process adjusting[J].Journal of Detection &Control,2010, 32(5):25-29. (in Chinese)

[6] [6] JORGE S, JUAN-JOS A, JOS A Y, et al.. Kinematic parameter estimation technique for calibration and repeatability improvement of articulated arm coordinate measuring machines[J].Precision Engineering, 2008,32(4)：251-68.

[7] [7] MAHMOUD T，MIKYUNG K. Inverse kinematics of 7-DOF robots and limbs by decomposition and approximation [J].IEEE Transactions on Robotics 2007,23(3): 595-600.

[8] [8] WANG X Y, LIU SH G, ZHANG G X. Calibration technology of the articulated arm flexible CMM[J]. Key Engineering Materials, 2008,381/382:161-164.

[9] [9] WEI L,WANG C J. Coordinate transformation and parametric calibration of multi-joint articulated coordinate measuring machine[J].Opto-electronic Engineering, 2007,34(5): 57-61.

[10] [10] LIGHTCAP C,HAMNER S,SCHMITZ T, et al.. Improved positioning accuracy of the PA10-6CE robot with geometric and flexibility calibration[J].IEEE Transactions on Robotics, 2008,24(2): 452-456.

[11] [11] CAI Z X. Robotics[M].Beijing: Tsinghua University Press,2000.(in Chinese)