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In typical model-based calibration, linearization errors are derived inevitably, and non-negligible negative impact will be induced on the identification results if the rotational kinematic errors are not small enough or the lengths of links are too long, which is common in the industrial cases. Thus, an accurate two-step kinematic calibration method minimizing the linearization errors is presented for a six-DoF serial robot to improve the calibration accuracy.

The negative impact of linearization on identification accuracy is minimized by removing the responsible linearized kinematic errors from the complete kinematic error model. Accordingly, the identification results of the dimension-reduced new model are accurate but not complete, so the complete kinematic error model, which achieves high identification accuracy of the rest of the error parameters, is combined with this new model to create a two-step calibration procedure capable of highly accurate identification of all the kinematic errors.

The proportions of linearization errors in measured pose errors are quantified and found to be non-negligible with the increase of rotational kinematic errors. Thus, negative impacts of linearization errors are analyzed quantitatively in different cases, providing the basis for allowed kinematic errors in the new model. Much more accurate results were obtained by using the new two-step calibration method, according to a comparison with the typical methods.

This new method achieves high accuracy with no compromise on completeness, is easy to operate and is consistent with the typical method because the second step with the new model is conveniently combined without changing the sensors or measurement instrument setup.

In modern China, sports and nationalism always have close connection, and nationalism is the important reason for the promotion of Chinese sports. However, the relationship between Chinese sports and nationalism in globalised China could be much more examined by academics, as well as its influencing factors. This chapter selects the Beijing 2008 Olympic Games as the context and representative three Chinese sports heroes in the period of globalisation to study. The findings show that in some extent, Beijing 2008 Olympic Games and three Chinese sports heroes represent the national image of China in the globalised world, also bearing the burden of washing away historical humiliation and pursuing national glory. Furthermore, it is manifested that China have a complex nationalism in the process of hosting the 2008 Olympic Games. Under the influence of mass media, market economy and sports professionalisation, nationalism still exists in Chinese sports, but people gradually start to reflect on the ‘Juguo Tizhi’, the traditional Chinese sports system and the concept of ‘winning glory for the nation’. The relationship between Chinese nationalism and sports shows the important implications of rapid Chinese sports development.

Along with the national government's expectation transformation, administrative system reform, economic transition, social demand structure's upgrading and population change, these negative effects are turning increasingly obvious and thus become huge powers that push the reform of traditional elite sports development mode forward. Against this background, in order to make this reform better adapted to China's reality and future development, the chapter suggests that Chinese traditional elite sports development mode should shift its driving forces of development from single to multiple, change its administrative system from government-oriented to society-oriented, develop its training concepts from instrumentalism to humanism, improve its construction of development from unbalanced to balanced and alter its effectiveness of development from extensive to intensive so as to achieve sustainable development.