| 摘要 |
PROBLEM TO BE SOLVED: To make a control object whose position attitude is determined by x, y, z, α, &bgr;, γ a position attitude of a target.SOLUTION: N actual position attitudes V(n) and a position attitude V(T) of a target are defined as n reference points P(n) and a first correction target point P(T) of a sixth-dimensional coordinate system. Seven first reference points P(n) constituting a sixth-dimensional simple substance including the first correction target point P(T) are specified. The seven first reference points P(n) and the first correction target point P(T) are converted into seven second reference points P'(n) and a second correction target point P'(T) of a seventh-dimensional coordinate system obtained by adding an error component &Dgr;x axis to the sixth-dimensional coordinate system. A hyperplane R(&Dgr;x) including the seven second reference points P'(n) is calculated, and the second correction target point P'(T) is substituted into the hyperplane R(&Dgr;x) to calculate an error component &Dgr;x(T). Similarly, &Dgr;y(T), &Dgr;z(T), &Dgr;α(T), &Dgr;&bgr;(T), &Dgr;γ(T) are calculated, and parameters are corrected so as to be a position attitude of the target on the basis of the error components. |
