以下为句子列表：
英文: According to the measured values of the joint angles and the end-effector positions, Jacobian matrix is calculated, and errors between the desired and the measured positions of the end-effector are exported to the least square method to determine the comp
中文: 通过机器人关节角和末端手爪位置的测量数据，计算雅可比矩阵以及手爪位置理论值和实测值的误差，采用最小二乘法对机器人的尺寸参数进行补偿量的计算。
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英文: Based on the conservation principle of linear and angular momentum, the method derives the equations of the mass and mass center as well as inertia tensor of the new end-effector for the manipulator handling the unknown object.
中文: 该方法基于线动量和角动量守恒定律，推出了机械臂负载未知目标的新的末端效应器的质量、质心和转动惯量的方程组。
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英文: The control system drives the robot move to the default position where scions have been prepared to plant, and the end-effector grip and transplant the scions into a culture flask.
中文: 机器人能自动定位于预设之取苗及挿植位置，使其手端得顺利夹持及挿植组织培养苗；而培养瓶定位装置总成则用以承载培养瓶，并使之倾斜或旋转，以辅助机器人手端到达挿植位置，依序移植组织培养苗。
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英文: The flask stand holds the flask to rotate or to make it incline in order to assist the end-effector taking positions and transplanting.
中文: 实验结果显示，此一机器人系统能适用于条状与团状苗在窄口圆锥形与广口方形培养瓶内扦挿移植。
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英文: This paper presents a robot autonomous calibration approach, the kinematics equations are built through the probe fixed in the end-effector contacting the constraint planes in the workspace, The robot internal sensor measurements are recorded for kinemati
中文: 摘要介绍一种机器人自标定方法，通过固定于机器人末端执行器上的探针与工作空间中的约束平面接触，建立运动学约束方程，利用机器人内部传感器读数来辩识机器人运动学参数，约束平面的位置无需准确知道。
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