Euler Angle Rotation
Represent 3D
orientation using a
combination of
three rotations
about different
axes.
Gimbal lock
• On a normal situation, there is no gimbal
lock.
• The gimbals are free to rotate in their
independent axes
Gimbal lock
When two gimbals align,
one degree of freedom
is lost
Here, the pitch angle is 90 degrees. And
hence, yaw and roll cause the object to
move in the same manner.
QUATERNIONS!
Can represent orientations and rotations in 3-D spaces
conveniently.
Unit quaternions form a 3-sphere.
There is a covering map from the 3-sphere to the 3-D projective space, while
no such map exists from the Euler Angles. The map from Euler angles to the
3-D space is not a local homeomorphism at every point and thus, there are
points where the rank (degrees of freedom) drops down below 3. Those
points are exactly where gimbal lock occurs.
Motive Motion
Capture with
Open Pilot Software
GOAL
To have the Micro-H quadcopter hover in
place.
Receive Orientation in the form of Quaternions from Motive (Motion
Capture Software in the IQ center)
Does not require rotations of more than 90 degrees.
Convert quaternions to Euler rotation angles (roll, pitch, yaw)