欧拉角与万向锁

https://zhuanlan.zhihu.com/p/74040465

https://www.bilibili.com/video/BV1YJ41127qe?from=search&seid=5685550487862074758

待读文章

https://www.zhihu.com/question/47736315/answer/236808639

https://zhuanlan.zhihu.com/p/346718090

https://zhuanlan.zhihu.com/p/98320567

https://blog.csdn.net/andrewfan/article/details/60981437