Lie Algebra

  • J. M. Selig
Part of the Monographs in Computer Science book series (MCS)


R.S. Ball published his “A Treatise on the Theory of Screws” in 1900. The finite screws he describes are clearly rigid body motions. Ball’s instantaneous screws are elements of the Lie algebra of the group SE(3), or more precisely rays in the Lie algebra. Although roughly contemporary with the work of Lie and Killing, Ball’s work had a rather different focus from the emerging theory of Lie groups and algebras. We hope to show the connections here. We begin by looking at Lie algebras in general.


Normal Subgroup Tangent Vector Adjoint Representation Home Position Killing Form 
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Copyright information

© Springer Science+Business Media New York 1996

Authors and Affiliations

  • J. M. Selig
    • 1
  1. 1.School of Electrical, Electronic, and Information EngineeringSouth Bank UniversityLondonUK

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