為提高史都華平台之定位精度，須對其各項誤差源進行估測校正。現學術界已有利用外部感應器量測或自我校正法來進行史都華平台誤差校正的研究，但所討論之誤差源僅限於平台可動板及底板接頭之位置誤差以及各驅動桿軸向靜態偏差，對於餘隙誤差尚未有人進行相關研究。
雖尚未有文獻研究史都華平台餘隙誤差的校正問題，但餘隙誤差源是史都華平台常用零組件(導螺桿、油壓等)上常見的誤差源，故激起對餘隙誤差進行研究的動機。

本研究重點為探討史都華平台各驅動軸軸向之餘隙誤差對定位精度的影響，並試著提出餘隙誤差估測方法。主要研究工作為對史都華平台進行敏感性分析，以了解餘隙誤差源對其定位精度的影響大小。接著分別由運動限制(mobility constraint)及贅餘感應器(redundant sensor)方法去解答史都華平台的餘隙誤差估測問題。模擬結果顯示，餘隙誤差源對史都華平台的定位精度有相當的影響力，而所提之方法也都為有效的解。

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