A bundle adjustment algorithm based on the minimization of the distances of feature matches is also introduced to remove the accumulation of errors.
同时，本文设计出基于特征匹配对距离最小化的捆绑调整算法。
In organization or system, if errors are accumulated largely beyond the line of self-adjustment, and the triggering events exist, accidents or even disasters will happen.
当失误不断积累，超过系统或组织自身的自适应能力以后，一旦激发事件出现，就有可能导致事故的发生。
Tracking errors of macro manipulator are compensated by the fast adjustment of micro manipulator and the control is implemented in joint space.
对宏微机器人的控制在关节空间进行，通过微机械手的快速运动对宏机械手的轨迹误差在线补偿。
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