“…Furthermore, the various methods for modeling the geometric errors from different perspectives have experienced a gradual development [7]. To describe the error of the cutter location and the tool orientation between the two kinematic chains, the error model is normally established using homogeneous transformation sciENcE aNd tEchNology matrices (HTM) [10,18,20], denavit-hartenberg (D-H) method [16], modified denavit-hartenberg (MD-H) method [19], or multi-body system (MBS) theory [31,32]. Among these different approaches, MBS theory, first proposed by Houston, has evolved into the best method for the modeling of geometric errors of machine tools because it provides for a simple and convenient method to describe the topological structure of an MBS [21].…”