Representation Theory

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


A representation of a Lie group is nothing more than a linear action of the group. We have seen several linear actions of the groups SO(3) and SE(3) already. However, we want to be more systematic here and apply some of the large modern subject of representation theory to robotics. An excellent introduction to representation theory can be found in Fulton and Harris [24]. We begin by making some formal definitions.


Vector Space Tensor Product Irreducible Representation Representation Theory Invariant Subspace 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

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

Personalised recommendations