  Measurement uncertainty relations are quantitative bounds on the errors in an
approximate joint measurement of two observables. They can be seen as a
generalization of the error/disturbance tradeoff first discussed heuristically
by Heisenberg. Here we prove such relations for the case of two canonically
conjugate observables like position and momentum, and establish a close
connection with the more familiar preparation uncertainty relations
constraining the sharpness of the distributions of the two observables in the
same state. Both sets of relations are generalized to means of order $\alpha$
rather than the usual quadratic means, and we show that the optimal constants
are the same for preparation and for measurement uncertainty. The constants are
determined numerically and compared with some bounds in the literature. In both
cases the near-saturation of the inequalities entails that the state (resp.
observable) is uniformly close to a minimizing one.
