KINEMATICS OF A THREE-AXIS GIMBAL SYSTEM

The kinematics of a three-axis gimbal system is studied by examining the equations of constraint which must be satisfied during gimbal motion. The phenomena of gimbal lock and gimbal flipping are considered and demonstrated for one type of vehicle motion. Curves indicating angular displacements, velocities, and accelerations have been computed showing the need of a redundant four-axis gimbal system to avoid gimbal lock. In addition, a scheme of operation is proposed for a four-axis gimbal system of low power consumption for the redundant axis servo.