Cohomological Equation for Robotic Screw Motion on the Lie Group SE(3)

Abstract

We study the cohomological equation associated with screw motions on the Euclidean motion group SE(3). Working on the smooth manifold M = T^3 x SO(3), we combine Fourier analysis in the translational variables with Peter-Weyl theory on SO(3) to reduce the equation to a family of finite-dimensional linear transport systems along frequency orbits induced by the rotational component. In the case of finite-order rotations, solvability is governed by explicit finite-dimensional linear obstructions encoded by monodromy operators. An explicit screw motion along the z-axis illustrates the resulting resonance conditions. Since rigid motions on SE(3) arise naturally as configuration spaces in robotic kinematics, the results provide a precise description of obstruction phenomena relevant to robotic rigid-body motion.