Patent ID: 7106334

Claim:
A computer readable medium, storing an animation creation program for displaying, on a screen of a computer, a structure comprising a plurality of links formed in a three-dimensional space by means of the computer and for creating an animation of the structure by means of the computer, wherein each link comprises at least a joint section constituting a center rotation, the animation creation program comprising: a first step of selecting a link according to a user's operation using indicating means of the computer; a second step of setting the spatial position of the joint section of the selected link as movable or fixed according to a user's operation using the indicating means; a third step of determining a posture of the structure using inverse kinematics computation based on a Jacobian matrix and the Singularity-Robust Inverse (SR-Inverse) matrix thereof, responding to the user's operation using the indicating means such that a link of the structure displayed on the screen is moved; a fourth step of creating data for displaying the structure whose posture is determined in the third step on the screen; and a fifth step of displaying the structure on the screen based on data created in the fourth step, wherein in the third step, if a solution, which is computed under the conditions that joint sections, other than the moved link, are set as moveable or fixed, can be found, said posture of the structure is determined based on the found solution, if said solution cannot be found, the link whose joint section is set as fixed is moved without setting the joint section as movable such that a solution can be found, and said posture of the structure is determined based on the solution which can be found after moving the link having a fixed joint section.