Research on Calculating the Initial Pose of Human-Gun Model

It is significance of solving initial pose of human-gun model, the CCD arithmetic uses conveniently, but it is difficult to deal with limit angles, single-axis joints and two-axis joints. The limitations are eliminated by improving the CCD arithmetic in this paper. The initial pose of human-gun model is obtained by using the new method, and the creditability is proved by comparing the calculating result and the true date. Then, a novel method is supplied to solve the joints´ angles when the location of object is a known quantity.