METHOD FOR DERIVING CONTINUOUS ROTATING ANGLES FROM CONTINUOUS ROTATING MATRIXES AND STORAGE MEDIUM STORING PROGRAM RELATED TO THE METHOD

PROBLEM TO BE SOLVED: To derive continuous rotating angle data from continuous matrix data for generating continuous motions by finding the change amount of rotating angles from the change amount of a rotating matrix when the solution of the rotating angle data is indefinite. SOLUTION: The solution of the rotating angle data is found while using specified one of plural equations expressing a relation between an element in the rotating matrix data of a processing object frame and the rotating angle data. When it is detected the solution of the equation is indefinite, concerning the element of the rotating matrix data, the change amount from the preceding frame to the processing object frame is found and concerning the rotating angle data, the change amount from the preceding frame to the processing object frame is found from the change amount in the elements of the rotating matrix data. By adding the change amount from the preceding frame to the processing object frame concerning the found rotating angle data and the rotating angle data of the preceding frame, the rotating angle data of the processing object frame, for which the solution is indefinite, is found.