An operational calculus for the euclidean motion group with applications in robotics and polymer science

In this article we develop analytical and computational tools arising from harmonic analysis on the motion group of three-dimensional Euclidean space. We demonstrate these tools in the context of applications in robotics and polymer science. To this end, we review the theory of unitary representations of the motion group of three dimensional Euclidean space. The matrix elements of the irreducible unitary representations are calculated and the Fourier transform of functions on the motion group is defined. New symmetry and operational properties of the Fourier transform are derived. A technique for the solution of convolution equations arising in robotics is presented and the corresponding regularized problem is solved explicity for particular functions. A partial differential equation from polymer science is shown to be solvable using the operational properties of the Euclidean-group Fourier transform.

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