| 摘要 |
PURPOSE:To display sequentially how the action of a part changes and actions of two or more parts by giving a conversion matrix for specifying the position relationship between a slave part and a master one and modifying the conversion matrix with the aid of external data as the time passes. CONSTITUTION:The 1st part 11 becomes a master one with respect to the 2nd part 12, which becomes a master one with respect to the 3rd part 13. And the part 12 can be rotatable with respect to the part 11 with a fulcrum P1 as a center, while the part 13 can be rotatable with respect to the part 12 with a fulcrum P2 as a center. Rotational angles A and B are inputted, and simultaneously a changing time T (for instance, T=8) necessary for changing from a current attitude to a target one is inputted. Then with the aid of a time tS (tS=2) a number (n) of intermediate steps (n=4) is operated. Next, the conversion matrix where the slave part changes by A/n and B/n with respect to the master one is obtained, and based on said matrix how the parts 12 and 13 change simultaneously is displayed on a CRT screen. Thus the actions of more than two parts can be displayed.
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