日別: 2017年7月23日

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一つ前の記事で、次に検討すると記述した長さについての関係性をまとめておく。

図において、OGは、足などの実体であり長さはである。この長さが正面図において見えているのが、OLである。また、側面図において見えているのがOHとなる、それらの長さはとである。正面図、側面図では、角度θとφが捉えられているとしよう。
このときまず、の位置は同じだから、

が成立する。
さらに、

が成立する。これら二つの式より、

が

と角度の値から求めることができる。

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先の記事に書いて、シミュレーションで暫定的に動かしてみた座標の設定には、問題があった。

正面図と側面図を同時に書くと上記図のようになる。前回の問題は、ロボットの原点で座標が固定されていなかったことだ。原点の軸においては、回転していなくした。そこで固定して、実際の動きは、それぞれの位置をグローバル座標に変換して表示させるようにすべきだということ。
図はまた、角度の正の向きを定義している。単なる定義であって、定義を変えると途中の式の形は変わるが、結果に変化はない。
原点の座標をとしての各座標を示そう。ただし、は、座標これらの座標に直接関係せず、ただ、足の向きを規定しているだけなので、ここでは省略する。
《正面図》
A点とB点の関係