The Cayley map for the rotation group SO (3) is extended to a map from the Lie algebra of
the group of rigid body motions SE (3) to the group itself. This is done in several inequivalent …

Cayley Maps for SE(3) Page 1 Cayley Maps for SE(3) JM Selig Faculty of Business, Computing
and Info. Management. London South Bank University, London SE1 0AA, UK IFToMM June …

The Cayley map for the rotation group SO (3) is extended to a map from the Lie algebra of
the group of rigid body motions SE (3) to the group itself. This is done in several inequivalent …