SPHERE PHASE DRIVING DEVICE, PHASE DETECTION METHOD, AND INFORMATION RECORDING MEDIUM

摘要

PROBLEM TO BE SOLVED: To provide a phase driving device to drive a sphere to rotate relative to a supporting part which supports the sphere and others. SOLUTION: The surface of the sphere 102 of a ball joint 101 is divided into a plurality of partitions. Diagram patterns different from one another are each printed on the plurality of partitions. The supporting part 103 rotatably supports the sphere 102. A plurality of optical sensors 104 recognizes the diagram patterns printed on the surface of the sphere 102. An acquisition part 105 acquires the phase of the sphere 102 to the supporting part 103 from the diagram patterns recognized by the plurality of optical sensors. A driving part 131 drives the sphere 102 to rotate relative to the supporting part 103.