Gimbal Lock它是如何发生的？ [英] Gimbal Lock how does it happen?

问题描述

所以我在网上搜索，我在想象如何发生
万向节锁的问题。根据我所看到的情况，当两个或更多的坐标轴对齐失去一定的自由度时，会发生这种情况，但我无法想象坐标轴将如何对齐？

I意思是，当我围绕x轴旋转一个对象（例如）时，y轴和z轴不会随着X轴旋转而保持垂直吗？他们如何对齐？同样，每当我围绕Y轴或Z轴旋转，另一个2轴一起旋转，并保持垂直不是吗？

为了更清晰地看到我有什么问题想象，检查这个视频。
At 5:05

离开。起始万向节，红轴偏航，蓝色节距，绿色滚动。然后围绕90deg（蓝色轴）旋转，滚动轴（绿色）与偏航轴对齐（红色），并且您有万向节锁。

So I searched on the net and I'm having some problems imagining how the gimbal-lock occurs. According to what i saw, it occurs when 2 or more axes align losing a degree of freedom but I can't imagine how will the axes even begin to align?

I mean, when i rotate an object around x-axis (for example) doesn't the y and z axes rotate with the X-axis to remain perpendicular? How are they gonna align? Similarly whenever i rotate around Y or Z axis the other 2 axis rotate together and remain perpendicular don't they?

To get a more clear view what I am having problem imagining, check this video. At 5:05 https://youtu.be/Mm8tzzfy1Uw?t=305

You'll see when he rotates around the X axis the green and the blue rings remain there where as according to my imagination the green (Y) and blue (Z) axes should have rotated. I don't understand why the rings are still aligned with the world axis?

解决方案

Gimbal Lock.

Gimbal lock does not lock an axis but rather it locks the action of the gyro to move freely in all three axis.

The gimbal's three axis, yaw outer ring (axis along up/down), pitch next ring in (axis along left/right), and roll the inner ring (axis along front/back). If you rotate the pitch ring 90 deg in either direction it will align the roll axis with the yaw axis and the gyro will act as if they are one.

The following image will help

Left. The Gimbal at start, red axis yaw, blue pitch, green roll. Then rotating around pitch 90deg (blue axis),the roll axis (green) is aligned with the yaw axis (red) and you have gimbal lock.

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