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 . We begin by making some formal definitions.
KeywordsVector Space Tensor Product Irreducible Representation Representation Theory Invariant Subspace
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