Gimbal Joint -- Simscape -- Singularity

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) 

Answer 1

[Steve Miller]

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.

--Steve

[Muhammad Fairuz]

Hi Steve,

I need to define upper and lower limit, joint stiffness and damping for each rotational axis. Due to this reason, I am using gimbal joint insteads of spherical joint (can only configure for one x-axis).

Any idea to find way around this issue? I am having gimbal lock issue.

Thanks