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I am new to quaternions. I read many documents on the web which said "quaternions can solve the gimbal lock problem". I don''t understand this. I learnt that quaternion q = [cos(£c/2), w.sin(£c/2)] can rotate a vector v an angle of £c around about an arbitrary unit axis w by: [0, v''] = q.[0, v].~q Using the fact that ~(p.q) = ~q.~p for quaternions p, q it can be proven that quaternion multiplication is also equivalent to concatenation of rotations. However, how does all this related to gimbal lock!?

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