In order to describe relative positions and postures between human skeleton, it defines 3 kinds of coordinate system, it also discusses detailly the way to gain each arthrosis moving parameters.

• 为了描述人体骨骼模型中各关节之间的相对位置和姿态的变化，本文定义了3类坐标系，并详细论述了求解各关节点运动参数方法；