5 ms·
Gimbal lock is a problem for euler angle representation of rotations, not rotation matrices themselves. You can fix it for euler angles the same way they used t
by salty_biscuits 7y ago
Gimbal lock is a problem for euler angle representation of rotations, not rotation matrices themselves. You can fix it for euler angles the same way they used to for old mechanical gimbal gyroscopes. By having a fourth rotation of the frame that points the singularity out of the way. This is a typical solution in navigation for dealing with the poles of the earth (a wander angle frame).
- BlueTemplar 7y agoWikipedia says that then the fourth one needs "to be driven" to stay perpendicular with the 1rst one (otherwise a "double-gimbal lock" would still be possible, I guess ?). And this "active driving" is likely to complicate the design even more ?
- salty_biscuits 7y agoFor sure for a real gimbal, I'm just saying that you can do the same thing mathematically to avoid singularities when dealing with rotations represented as euler angles.