| 摘要 |
PROBLEM TO BE SOLVED: To provide a technology for updating the attitude data of a "slave" so that the relative attitude relation between a model for a master and a model for the slave in a model group, having a master-slave structure is maintained accurately. SOLUTION: Calculated is M'<SB>c</SB><SP>f</SP>=M<SB>c</SB><SP>f</SP>M<SB>p</SB><SP>f</SP>Inv(M'<SB>p</SB><SP>f</SP>), where M<SB>p</SB><SP>f</SP>is the f-th frame of the previously generated motion data of the model for the master, M<SB>c</SB><SP>f</SP>the f-th frame of the previously generated motion data of the slave model, M'<SB>p</SB><SP>f</SP>the f-th frame of the model for the master which is found through interpolation processing, and M'<SB>p</SB><SP>f</SP>a matrix that the updated attitude data of the slave model of the f-th frame show. Attitude data that M'<SB>c</SB><SP>f</SP>shows are found as the updated attitude data of the slave model of the f-th frame (S604). COPYRIGHT: (C)2005,JPO&NCIPI
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