Re: Is this a silly idea

On Wed, 2003-12-10 at 06:04, Jon Elson <elson@...> wrote:

> No, you should be able to write a simple kinematics routine for
> EMC, and use the rest as is. The only thing you have to worry
> about is the "gimbal lock" problem. If you ever drive the machine
> through the 0 - 0 point, the results are unpredictable at the center
> of rotation of the rotary axis.

Computer graphics guys avoid the gimbal lock problem by using
quaternions rather than Euler transformations. A quick Google shows that
the International Space Station is using quaternions also (movie fans
may recall the "gimbal lock" incident in Apollo 13).

Maybe quaternions could be applied here?


--
Tony Hursh <awh@...>