| 摘要 |
PURPOSE:To attain the actions in various directions and also to calculate an accurate bending angle of a multi articulated object by showing the actions of this object in the articular angles and the inter-articulation lengths, applying an action surface angle showing the direction where an articulation acts at an articular angle, and defining the bending angle of the articulation on the action surface. CONSTITUTION:An articulation position storage part 11 stores the position of each articulation calculated by the three-dimensional measurement, etc. An action surface angle calculating part 12 calculates an action surface angle based on the position of each articulation and also defines an action surface. A bending angle calculating part 13 calculates a bending angle on the action surface. Then the action surface angle and the bending angle of each articulation are turned into functions by an angle function part 14 and stored in an angle function storage part 15. A synthesizing part synthesizes each angle function with the shape data stored in a shape data storage part 16. |
