Gimbal Lock

It refers to the situation when an axis of rotation is lost when two of the three axes of rotation aligns together. This happens when rotations are represented by Euler angles.

Solutions

• Using a motorized 4th axis which maintains a large angle between the yaw and roll axes
• Shifting one of the locked axes to an arbitrary angle to reset the lock
• Avoiding the use of gymbal and using systems based on Quaternions