| 摘要 |
PROBLEM TO BE SOLVED: To reduce a calculating time and to generate natural connecting operation data by giving three posture angles as rotating quantity around respective coordinate axes, rotate-converting a posture vector in a primary state around the respective coordinate axes by the rotation quantities and calculating each posture vector at each time. SOLUTION: Through the use of a coordinate system introducing from a fixed point P and posture vectors Va, Vv and Vh, the position, etc., of each joint of an object is decided to be specific and on the other hand, a specific coordinate axis characteristic to each object to be used for defining shapes called three object coordinate system x, y and z is set to the object by computer graphics. By these set coordinate axes x, y and z, three posture angles are given as the rotation quantities around the respective coordinate axes and the posture vector in the primary state is rotate-converted around the coordinate axes x, y and z by the rotation quantity to calculate each posture vector Va, Vv and Vh of the time. |
