：The calibration principle of tool center point (TCP) of six-joint industrial robot is studied through the analytic model and geometric model and the source of calibration error is analyzed comprehensively. Furthermore, the influence of calibration point number and calibration pose on TCP calibration precision is analyzed quantitatively. Based on the classical algorithm of four point calibration, a concept of error threshold and an improved algorithm is proposed, named the priority selection from five calibration point. In addition, the simulation and experimental verification is carried out. The experimental results show that the faulty point can be picked out effectively, the calibration accuracy can be further improved and the reliability can be ensured by using the improved algorithm. Key words：six-joint industrial robot；TCP calibration；the number of calibration point；the pose of the calibration point；analytic and geometric model；screening 0 前言* 工业机器人控制系统中涉及有大量坐标系，例 如基础坐标系 Base-Frame 和连杆坐标系 Link-Frame

This paper presented a new mild steel slit damper(SSD). The new shape was parabolic according to all the cross section having the same maximal stress, and the elastic stiffness and yield displacement formula were derived. Finite element analysis showed that the parabolic shaped damper had a more reasonable load - displacement curve compared with the previously proposed shape. The theoretical stiffness and yield displacement were consistent with the results by finite element method (FEM), and that indicated the presented design method was simple and feasible.

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The elastoplastic phenomenon of the structures will be advent under the action of the strong earthquakes, the presented research on the vibration control of the ones is chiefly concentrated on fuzzy and neuro-controller with the expense of bigger energy. In the paper, the 3-storey benchmark building is used as research object, the control strategy of vibration system with fractional-order is studied. The control method based on acceleration responses output is emphatically concerned as it is usually adopted in most actual application of active vibration control techniques. The concrete courses include the following three steps: the integer-order approximation of fraction-order, the transfer function reduction in frequency-domain which base on Pade approximation, the controller design and simulation. In the last, an example is used to show the feasibility of proposed method.