先の記事の中に、足の長さのロボット座標面への射影の長さが計算できて、実際の足の長さと角度からそれを求めることができると指摘した。
その実際の計算を以下に示す。ただ、描くのが面倒になったので、ノートの写メを掲載しておくにとどめる。
＜１、２ページ＞
＜３、４ページ＞
日別: 2017年7月24日
ロボット座標の再構成（修正）
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いざプログラムに書こうと思ったら、先の記事に書いた正面図が、ひざ関節が左右に曲がるというものになっているのに気づいた。足郎２は、ひざは前後にしか曲がらない（人間と同様）ので、修正した。
正面図は、変な格好だが、図は角度の正の向きを確認し、関節位置の座標を確定するためのものだから問題ない。
《正面図》
A点とB点の関係
B点とC点の関係
C点と原点の関係
D点と原点の関係
D点とE点の関係
E点とF点の関係
《側面図》
A点とB点の関係
B点とC点の関係
C点とD点と原点の関係
D点とE点の関係
E点とF点の関係
