4.3 Assembly of a system The objective is to minimize w(q,,r）=q-g）g-g）+rΦ(g,)Φ(g,to) to obtain an assembled configuration 1=q The parameter r>0 is a constant that places relative emphasis on deviation from the initial estimate q"=limg(r) Optimization calculationThe objective is to minimize 4.3 Assembly of a system ( , , )     ( , ) ( , ) 0 0 0 0 0 t r r t t T T  q  q  q q  q   q  q to obtain an assembled configuration a q  q The parameter r  0 is a constant that places relative emphasis on deviation from the initial estimate lim (r) r a q q   Optimization calculation