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Gimbal Joint -- Simscape -- Singularity

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Onur Cimen
Onur Cimen on 10 Aug 2020
Answered: Steve Miller on 5 Jun 2021
Hello everyone,
When I was trying to aimulate more than 90 degree with Gimbal Joint on Y and Z axis. I always have a problem with singularity. The problem is caused by Gimbal Joint.X axis. Anyone knows how should I can solve this problem? The other side, I dont have any problem with X axis. I can simulate more than 90 degree.
Thank you very much in advance.
Here is the error message.
Derivative of state 'Sensor.Gimbal_Joint.Rx.w' in block 'Sensor/Gimbal Joint' at time 0.766 is not finite.
The simulation will be stopped. There may be a singularity in the solution
If not, try reducing the step size (either by reducing the fixed step size or by tightening the error tolerances)

Answers (1)

Steve Miller
Steve Miller on 5 Jun 2021
A Gimbal Joint can be oriented into a singularity if two of the axes align perfectly, as two of the degrees of freedom are then aligned. You can swap in a Spherical Joint to avoid this problem.

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