I don't imagine that this is a practical issue for navigation any longer, given the advent of GPS technology. However, it is of practical concern in 3-d animation and robotics. To get back to your navigation example, suppose that I have a mechanical gyro mounted in an airplane flying over the North Pole.
If the gyro is only mounted on three gimbals, one of the gimbals will freeze because moving smoothly to the proper orientation would require at least one of the gimbals to flip 180 degrees instantaneously. The gimbal lock problem can be countered by adding a redundant degree of freedom in the form of an extra gimbal, an extra joint in a robotic arm, etc.
As you pointed out, it's the singularity at the poles of the representation that's the problem. Having a redundant degree of freedom helps because you can have enough information at the pole to move the correct direction. In 3-d graphics, if an axis-angle representation [Euler axis and angle] or quaternions are used instead of a triple-axis representation [Euler angles], then weird rotation artifacts due to gimbal lock are eliminated [performing a YouTube search for "gimbal lock" yields several visual demonstrations of the problem].
Hello everyone, I have this problem with Quaternions, I tried to pass the rotation of some objects to the rotation of one object, but at some angles I get the Gimbal Lock problem, like when the X rotation is 90, the Y rotation rotates on the Z axis, this is the code:
switch [axis]
{
case Axis.X:
switch [typeOfEditing]
{
case EditType.Rotation:
if [oldRotAxis != transform.localEulerAngles.x]
{
newRotAxis = transform.localEulerAngles.x - oldRotAxis;
objToMove.localRotation = Quaternion.AngleAxis[newRotAxis, Vector3.right] * objToMove.localRotation;
follower.localRotation = Quaternion.Euler[newRot];
oldRotAxis = transform.localEulerAngles.x;
}
break;
}
break;
case Axis.Z:
switch [typeOfEditing]
{
case EditType.Rotation:
if [oldRotAxis != -transform.localEulerAngles.x]
{
newRotAxis = -transform.localEulerAngles.x + oldRotAxis;
objToMove.localRotation = Quaternion.AngleAxis[newRotAxis, Vector3.forward] * objToMove.localRotation;
follower.localRotation = Quaternion.Euler[newRot];
oldRotAxis = -transform.localEulerAngles.x;
}
break;
}
break;
case Axis.Y:
switch [typeOfEditing]
{
case EditType.Rotation:
if [oldRotAxis != transform.localEulerAngles.y]
{
newRotAxis = transform.localEulerAngles.y - oldRotAxis;
objToMove.localRotation = Quaternion.AngleAxis[newRotAxis, Vector3.up] * objToMove.localRotation;
follower.localRotation = Quaternion.Euler[newRot];
oldRotAxis = transform.localEulerAngles.y;
}
break;
}
break;
}
Is there a method, to apply a rotation to each axis and evading the Gimbal Lock? I have tried also the Quaternion.Euler but gives me the same results.
The problem of gimbal lock appears when one uses Euler angles in applied mathematics; developers of 3D computer programs, such as 3D modeling, embedded navigation systems, and video games must take care to avoid it.
What is gimbal lock Apollo?
In gimbal lock, the outer gimbal moves with the spacecraft to a point where it is parallel to the inner gimbal [pi/2] and in such a case all gimbals will be in the same plane. So, will not be able to re-align itself to the basic plane in order to resume a normal orientation.
How do you solve a gimbal lock?
How do you fix gimbal lock?
- Construct a quaternion that describes a rotation around whatever axis we want, and the angle to rotate by.
- Multiply that by the object’s current rotation as represented by a quaternion.
- Take the result and overwrite it back into the object’s current stored rotation.
What is a gimbal in space flight?
NASA used gimbals in early spacecraft for everything from instruments to propulsion systems. In navigational systems, gimbals are useful for determining and changing the orientation of a spacecraft in relation to something else, such as the Earth or a space station.
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1Do matrices have gimbal lock?
masskonfuzion. If you’re using rotation matrices, there’s not really a way to avoid gimbal lock. It happens because you’re rotating one axis into another axis, effectively removing a degree of freedom.
Is gimbal lock a singularity?
Gimbal lock is a singularity when pitch approaches 90 or -90 deg. Because of the definition of the Euler angles, the orientation is not fully defined, which means that roll and yaw are not stable values when pitch is approaching 90 deg.
What is gimbal lock Maya?
Edit. In animation, a situation where one rotational axis is placed over another, causing the two axes to lead to the same result when animated. To avoid gimbal lock, either quaternion rotation must be used instead of Euler rotation, or a node must be provided for each rotational axis. Graph Editor overview.
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What are gimbal angles?
The ‘gimbal angles’ are the Euler angles between the ‘stable platform’ and the ‘navigation base’ as measured relative to the navigation base itself. In the LM, the AOT is also mounted on the NAV base. So, for platform alignment it would be convenient to measure all angles relative to the nav base.
What was the outcome of Apollo 13?
Apollo 13 was NASA’s third moon-landing mission, but the astronauts never made it to the lunar surface. During the mission’s dramatic series of events, an oxygen tank explosion almost 56 hours into the flight forced the crew to abandon all thoughts of reaching the moon.
How do quaternions avoid gimbal locks?
The only way to avoid gimbal lock is to use quaternion instead of euler to represent rotations. In this specific situation, unless both rotate manip and direction manip use quaternion, the gimbal lock behavior can NOT be avoided.
What does a gimbal do?
A gimbal is a pivoted support that permits rotation of an object about an axis. A set of three gimbals, one mounted on the other with orthogonal pivot axes, may be used to allow an object mounted on the innermost gimbal to remain independent of the rotation of its support [e.g. vertical in the first animation].
Why do Euler angles have gimbal lock?
Euler [gimbal lock] Explained
How do you stop the gimbal lock in Assassin’s Creed Unity?
Unity Euler Angles X, Avoiding Gimbal Lock
Do quaternions suffer from gimbal lock?
Benefit: Quaternion rotations do not suffer from Gimbal Lock. Quaternions are used to represent rotations. They are compact, don’t suffer from gimbal lock and can easily be interpolated.
What is Euler angle singularity?
It occurs for roll/pitch/yaw angles, it occurs for Euler angles. It always occurs when the middle angle takes on a particular value, and for roll/pitch /yaw angles the pitch angle is equal to pi/2, leads to the singularity condition. This condition is also known by the rather unusual name of gimbal lock.
How do you get rid of the gimbal lock in Maya?
Solving Gimbal Lock Rotation Errors with the Euler Filter in Maya
What is skinning in Maya?
Skinning is the process of binding a modeled surface to a skeleton. You can bind any model to its skeleton using skinning, or you can model over a pre-existing skeleton to create its skin.
How do you lock rotation in Maya?
How to Maya: Gimbal Lock & Rotation Order
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What is the difference between a gimbal and gyroscope?
is that gimbal is a device for suspending something, such as a ship’s compass, so that it will remain level when its support is tipped while gyroscope is an apparatus composed of a wheel which spins inside of a frame [gimbal] and causes the balancing of the frame in any direction or position in the form of a gyroscopic …
Did Jim Lovell ever walk on the Moon?
Lovell is one of only three men to travel to the Moon twice, but unlike the other two, John Young and Gene Cernan, he never walked on it. He accrued 715 hours and 5 minutes in space flights on his Gemini and Apollo flights, a personal record that stood until the Skylab 3 mission in 1973.
Is Aquarius still in orbit?
Aquarius burned up in Earth’s atmosphere, the only part of the module to survive is the hardened module that contained the radioisotope thermoelectric generator [RTG] that would have been used on the lunar surface for Apollo 13’s Apollo Lunar Surface Experiments Package. Come back later today for splashdown!
What If Apollo 13 Failed?
“They would have missed the Earth and died a lonely death in space when their oxygen ran out,” Chaikin said in the narration, with initial editions including the erroneous information. “Even more chilling,” he added, “their bodies would never have returned, because Apollo 13 would have circled in space forever.