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Topic: Gimbal lock

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Gimbal

Flight dynamics

Charts on SO(3)

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Coordinate rotation

Inertial navigation

Ring laser gyroscope

Inertial guidance system

Strapdown

Gyroscope

Sagnac interferometer

Clifford algebra

Optical fibre

Quaternion

Pauli matrices

	Gimbal lock -- Facts, Info, and Encyclopedia article (Site not responding. Last check: 2007-09-06)
		This would require a reset of the gimbals using an outside reference.
		Or as described in (Click link for more info and facts about Gimbal) Gimbal: Gimbal lock occurs when all three gyros hit the limits of their ability to move within the sensing mechanism - they hit hard stops and stop moving around.
		For example, an (An aircraft that has a fixed wing and is powered by propellers or jets) airplane uses three references, pitch (angle up/down), yaw (angle left/right on a vertical axis) and roll (angle left/right on the horizontal axis).
	www.absoluteastronomy.com /encyclopedia/g/gi/gimbal_lock.htm (344 words)

	Apollo IMU Gimbal Lock
		Gimbal lock occurs when the outer gimbal axis is carried around by vehicle motion to be parallel to the inner gimbal axis.
		However, as gimbal lock is approached higher and higher angular accelerations are required of the outer gimbal to hold the inner member fixed against particular components of base angular velocity.
		The gimbal outer axis could be mounted 33 degrees (for instance) away from the thrust axis as it is in the command module.
	www.hq.nasa.gov /pao/History/alsj/e-1344.htm (4184 words)

	Gimbal Angles and Gimbal Lock
		The 'gimbal angles' are the Euler angles between the 'stable platform' and the 'navigation base' as measured relative to the navigation base itself.
		Three rotating gimbal rings are mounted in sequence: the outer (X axis) to the case, the middle (Z axis) to the outer ring and the inner (Y axis) to the middle ring.
		The most likely operation would use the inner three gimbals to drive the stabilizing gyro error signals to zero while the fourth if criven so as to keep the middle gimbal near zero and away from the gimbal lock orientation.
	www.hq.nasa.gov /office/pao/History/alsj/gimbals.html (1042 words)

	Encyclopedia article on Gimbal [EncycloZine] (Site not responding. Last check: 2007-09-06)
		A gimbal is a device using Euler angles to measure rotation of an object in three dimensions.
		Gimbals used in spacecraft have three sets of three gyroscopes in the inertial measurement unit.
		Gimbal lock occurs when all three gyros hit the limits of their ability to move within the sensing mechanism - they hit hard stops and stop moving around.
	encyclozine.com /Gimbal (280 words)

	Gimbal lock (Henry Spencer) (Site not responding. Last check: 2007-09-06)
		This is done by putting several gimbals in between platform and spacecraft, each one a ring which rotates on pivots supported by the next-biggest ring and in turn supports the pivots for the next-smallest ring.
		Three gimbals is the minimum for free movement in any direction, since there are three axes on which rotation can occur.
		For Apollo, the decision was to use only three gimbals and rely on the astronauts to avoid sequences of rotations that would produce gimbal lock.
	yarchive.net /space/spacecraft/gimbal_lock.html (447 words)

	Re: What is meant by the term gimbal lock?
		How a gimbal lock occurs is a three dimensional problem that I will try to describe in words; however, it would be better to have a model to experimentally follow my discussion.
		To help understand the gimbal lock condition I'm going to turn the problem around and have the gimbals track a moving object relative to a fixed reference plane.
		To over come the gimbal lock problem a third axis gimbal can be added to the system with it's axis often set 90 degrees (orthogonal to) the elevation axis.
	www.madsci.org /posts/archives/aug98/896993617.Eg.r.html (1115 words)

	ipedia.com: Gimbal lock Article (Site not responding. Last check: 2007-09-06)
		Gimbal lock, in gyroscopicic devices controlled by Euler mechanics or Euler angles, is caused by the alignment of two of the three gimbals together so that one of the rotation references is cancelled....
		Gimbal lock, in gyroscopicic devices controlled by Euler mechanics or Euler angles, is caused by the alignment of two of the three gimbals together so that one of the rotation references (pitch/yaw/roll, often yaw) is cancelled.
		At the poles (latitude 90° north or south), the definition of longitude becomes meaningless (as all longitude lines meet in a singularity).
	www.ipedia.com /gimbal_lock.html (297 words)

	Angle Representation (Site not responding. Last check: 2007-09-06)
		X rotation is done before Y so that the gimbal lock location would be in the positive and negative Y directions.
		Gimbal lock is what happens when an object is first rotated in such a way that one axis of freedom lies directly on another.
		This alignment of the Z and the Y axes is referred to gimbal lock: it is not stuck, just limited in its possible movements since one degree of freedom has been lost.
	www.hash.com /htmlHelp/HTMLHelp/mas00204.htm (1776 words)

	uniqueness and continuity of Euler angles (Site not responding. Last check: 2007-09-06)
		Gimbal lock occurs when the second angle (theta) is +90 or -90 degrees, causing the first and third axis of the linkage to become aligned.
		Gimbal lock is impossible in the knee if ab-adduction is used as the second axis of rotation.
		All of these descriptions avoid Gimbal lock problems, but are not easily translated into a clinical or functional interpretation.
	isb.ri.ccf.org /biomch-l/archives/biomch-l-2003-01/00047.html (732 words)

	EularQuats
		Gimbal lock is the phenomenon of two rotational axis of an object pointing in the same direction.
		Gimbal lock is frustrating problem that every CG artist will face sometime in their career and it always happens at the worst possible time.
		Gimbal lock occurs when animating an object with a rotational matrix known as Eular (pronounced Oiler) angles.
	www.anticz.com /eularqua.htm (750 words)

	Creating gimbel lock - DevMaster.net Forums
		The symptoms of gimbal lock as I understand it are that after some rotations around one axis, following rotations about the other two axis look the same or at least inverted.
		The only way to create gimbal lock as I understand it is mixing the two methods of rotation.
		I think gimbal lock occurs when you rotate one axis, and it is mapped onto another axis, making them parallel, and when this happens you lose a degree of freedom, because your matrix has been reduced to a 2D matrix.
	www.devmaster.net /forums/showthread.php?t=370 (726 words)

	Animats Support
		"Gimbal lock" is a problem only for joints with three degrees of freedom; in Softimage this is the first joint of a 2D chain and all joints of a 3D chain.
		Gimbal lock occurs when the first and third axis of a joint line up.
		If you get "Gimbal lock" errors, try narrowing the joint limits on the joints with three degrees of freedom.
	www.animats.com /topics/support.html (1059 words)

	Inertial Science, Inc.
		It is designed with a single gimbal so that it can be used on vehicles with high roll (spin) rates to 22 RPS, or the gimbal can be locked for full strapdown operation.
		When the gimbal is unlocked, the system operates with 2 axes in a strapdown mode and 1 axis in a gimballed mode.
		When the gimbal is locked, all 3 axes are in a strapdown mode.
	home.earthlink.net /~dkisi19/dmars_r.htm (190 words)

	GameDev.net - Quaternion Powers (Site not responding. Last check: 2007-09-06)
		This implementation method is better than the Euler representation as it avoids the gimbal lock problem.
		Though the angle axis representation does not suffer from gimbal lock, there are problems when you need to interpolate between two rotations.
		This is the real beauty of quaternions - the multiplication of two unit quaternions in 4D space solves gimbal lock because the unit quaternions lie on a sphere.
	www.gamedev.net /reference/articles/article1095.asp (2765 words)

	Who knows "Gimbal Lock" clearly? - GameDev.Net Discussion Forums (Site not responding. Last check: 2007-09-06)
		Gimbals wasen't implemented in the first space-ships due to their weight and astronauts were actually trained to work around the Gimbal Lock ;)
		Gimbal lock happens because the angles are given in terms of moving axes.
		Gimbal lock is much easier to understand once it is screwing your application/game/animation/simulation
	www.gamedev.net /community/forums/ViewReply.asp?id=1954972 (1045 words)

	Gimbaled Systems (Site not responding. Last check: 2007-09-06)
		In a gimbaled system (Figure 1.1), a set of mutually orthogonal accelerometers are attached to the gimbaled gyro platform and hence are held in a fixed inertial orientation.
		Pickoffs on the gimbals measure the movement of the outer body around the steady platform and the accelerometers measure the body's acceleration in the fixed inertial axes.
		One of the limitations of a gimbaled system is its tendency to ``lock up'' in certain maneuvers.
	xenia.media.mit.edu /~verp/projects/smartpen/node7.html (205 words)

	[No title] (Site not responding. Last check: 2007-09-06)
		Now my question is thet how one can cancel gimbal lock when using Euler(or Bryant) angles.
		You want to pitch the camera up (say this is an x-axis rotation), then do a pitch-up matrix consisting of only the x-axis rotation, and recompose the camera matrix by A = R * C (where A is the new matrix, R is the rotation, and C is the current camera orientation matrix).
		I ask how it is possible to numerically solve the governing equations of the rotation and translation of the ships, vessels, whatever without gimbal lock.
	www.orbitersim.com /v2/read.asp?id=15398 (1507 words)

	Gimbal Lock Solutions II (Site not responding. Last check: 2007-09-06)
		A common mistake that people make is they will model their characters in the Face (XY) view and then rotate their bones to fit in the object properly, but when it comes time to actually animate the bones, everything is already rotated 90 degrees on one of the axes, and this causes gymbal lock problems.
		The solution is the model your object as normal, then before saving or exporting it to Layout, Rotate it so that it is lying face down with the legs and arms pointing along the +Z axis.
		When all of your bone hierarchies are set up, rotate the entire character 90 degrees to align it properly and all of the bones you added will retain their correct orientation and you won't have any gimbal lock problems.
	www.flay.com /text/gimballock2.htm (307 words)

	Steven Kent - Computer Games / 3D Artist (Site not responding. Last check: 2007-09-06)
		gimbal lock whenever the viewer points either straight up or straight down.
		The Quake games, for instance, avoid gimbal lock by not allowing the viewer to point all the way up or down.
		To solve gimbal lock, either avoid looking directly down or directly up, or else use a different rotational system.
	www.stevenkent.net /glossary.htm (6779 words)

	No More Gimbal Lock! by Stefan Andersson (Site not responding. Last check: 2007-09-06)
		The gimbal lock is caused by X and Z axis being in the same order after rotating the Y axis 90/-90 degrees.
		The problem with gimbal lock occurs when the Y rotation is only effecting one axis and not two.
		So we move the Y to be on the top of the chain.
	www.edharriss.com /tutorials/tutorial_xsi_gimbal/xsi_gimbal.html (533 words)

	Part Three: Rotation About an Arbitrary Axis
		This problem is the root cause of gimbal lock.
		Just remember that Gimbal Lock happens when one axis gets rotated before another axis, and the axes are no longer mutually perpendicular.
		But by using the axis/angle representation for your rotations, it is possible to avoid gimbal lock.
	www.cprogramming.com /tutorial/3d/rotation.html (921 words)

	CGTalk - Gimbal lock (Site not responding. Last check: 2007-09-06)
		Do you guys know of any genious advice on preventing gimbal lock.
		Like setting up your rotation orders to what he's going to be doing in the shot.
		Also having an extra controler for a wrist incase the main controler gets gimbal lock.
	forums.cgsociety.org /printthread.php?t=46118 (395 words)

	ONE
		This is done by putting several gimbals in between platform and
		Three gimbals is the minimum for free movement in any direction, since
		astronauts were frequently complaining of going into "gimbal lock".
	www.gimblelock.com /Biography/gldefinedheader.html (1357 words)

	flipcode - Quaternions & Representing Object Orientation (Site not responding. Last check: 2007-09-06)
		In particular I'd like to be able to avoid "Gimbal Lock".
		Very commonly, when people have gimbal lock problems they have them because they require the ability to maintain roll/pitch/yaw orientation parameters (Quaternions supply this with no gimbal lock issues.)
		From this matrix, you can still obtain the direction vector (which is usually extremely helpful) by pulling out the Z-Vector of the 3x3 portion of your matrix.
	www.flipcode.com /cgi-bin/fcarticles.cgi?show=64478 (357 words)

	Starshatter Forum (Site not responding. Last check: 2007-09-06)
		Your arcs are 180 degrees, so your aim_**_max's should both be 3.14.
		Setting the weapon's elevation to straight up may result in gimbal lock.
		Why don't you try setting the elevation in the ship design to plus 45 degrees, and design the weapon with an aim_el_max of plus or minus 45 degrees.
	www.starshatter.com /forum/thread.php?topic=785 (160 words)

	Reference Material - Ray Trace Options (Site not responding. Last check: 2007-09-06)
		Ordinarily, it occurs after an object has been rotated 90 degrees on its pitch (x) axes.
		To avoid the Gimbal lock problem, when first positioning objects or bones, rotate the pivot point and use the RecPivot Rot.
		This is especially useful in setting up bones.
	art-design.smsu.edu /yarberry/Courses/Reference/PivotPoints (270 words)

	CBS News \| Marking 'Apollo 13' Anniversary \| March 30, 2005 10:30:01
		Hanks says, "I can't tell you, for example, the concept of Gimbal Lock.
		You can't explain what Gimbal Lock is, but you can communicate that Gimbal Lock is bad.
		Producer Brian Gazer adds, "We weren't sure we could trust the absolute truth to be dramatic, or for it to be emotionally palpable.
	www.cbsnews.com /stories/2005/03/30/earlyshow/leisure/main683966.shtml (768 words)

	sciforums.com - Gimble Locks?
		Gimbal lock is a phenomenon, it is not a device.
		Here is a page on gimbal angles and gimbal lock at the Apollo Lunar Surface Journal:
		Thanks.I understand a little now.I kept hearing Gimbal Locks so much on Apollo-13 Movie,couldnt just get it..!
	www.sciforums.com /showthread.php?p=646630 (51 words)

	CGL Image (Site not responding. Last check: 2007-09-06)
		We are also working on Java bindings in the context of the Metamedia Project, where Gn will provide a device independent scene description interface.
		wm title.tutorial $title---$description---Tutorial frame.tutorial.f scrollbar.tutorial.f.scroll -command ".tutorial.f.text yview" text.tutorial.f.text -font "9x15bold" \ -relief raised -bd 5 \ -yscrollcommand ".tutorial.f.scroll set".tutorial.f.text insert end { Gimbal Lock Demonstration The sliders in this application set the rotational angles of the three joints of a gimbal, in which we have mounted a test model.
		Essentially, the gimbal applies rotations in order about the x-axis, y-axis, and z-axis.
	www.cgl.uwaterloo.ca /GALLERY/image_html/gimbal.jpg.html (865 words)

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