Initial condition assembly of the system The user may employ graphical estimates of the position and orientation of each body to create g o,how to obtain the initial assembled configuration g a The objective is to minimize 平(q,to,r)=q-q°）y(q-q)+rΦ'(q,to)(q,t) to get q(r) r>0 is a weighting constant that places relative emphasis on deviation from the qo ga lim g(r)Initial condition assembly of the system The user may employ graphical estimates of the position and orientation of each body to create q 0 , how to obtain the initial assembled configuration q a ? The objective is to minimize ( , , )     ( , ) ( , ) 0 0 0 0 0 t r r t t T T  q  q  q q  q   q  q r > 0 is a weighting constant that places relative emphasis on deviation from the q0 lim (r) r a q q   to get q(r)