通过对阻抗模型参数进行模糊调节减少受限运动中的力误差，提高了全局的力控制效果。
Moreover, impedance model parameters are adjusted fuzzily to reduce the force errors in the constrained motion and improve the global force control performance.
针对多点成形件成形误差检测中的三维数据配准问题，提出了一种用两步法将CAD模型数据和三维测量数据点全局配准的方法。
In this paper, a new method for the global registration of the CAD modeling data to the 3d measured data is presented.
为在电阻率测深曲线反演中得到全局最优解，采用先使用遗传算法再用最小二乘法反演方法，对较为复杂的3层和3层以上大地模型进行了计算，其模型参数误差只有6%。
It is shown from the computations that the joint method inherits both the advantages of GA and least square. The model errors of inverting 3 or more strata layered earth are 6% less.
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