Difference between revisions of "MR Second Printing"

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* In the caption of Figure 3.3 p53, <math>(0.5,1/\sqrt{2})</math> should read <math>(1/2, \sqrt{3}/2)</math>, and <math>(-1/\sqrt{2},0.5)</math> should read <math>(-\sqrt{3}/2, 1/2)</math>.
* In the caption of Figure 3.3 p53, <math>(0.5,1/\sqrt{2})</math> should read <math>(1/2, \sqrt{3}/2)</math>, and <math>(-1/\sqrt{2},0.5)</math> should read <math>(-\sqrt{3}/2, 1/2)</math>.


* Under "Representing a configuration" in Chapter 3.3.1.2, the text says "<math>T_{bc} = (R_{bc},p_{bc})</math> represents {b} relative to {c}" but it should say "represents {c} relative to {b}".
* Under "Representing a configuration" in Chapter 3.3.1.2 p78 near the bottom, the text says "<math>T_{bc} = (R_{bc},p_{bc})</math> represents {b} relative to {c}" but it should say "represents {c} relative to {b}".
* There is a typo in the final matrix, <math>T_{ce}</math>, of Example 3.19. The term <math>130/\sqrt{2}</math> should be <math>160/\sqrt{2}</math>. (Also, there is no need to use <math>T_{ad}</math> in this example.)
* There is a typo in the final matrix, <math>T_{ce}</math>, of Example 3.19, p82. The term <math>130/\sqrt{2}</math> should be <math>160/\sqrt{2}</math>.
* In the displayed equation just after Equation (3.76), the left-hand side should be <math>[\mathcal{V}_s]</math> (the brackets are missing).
* In the displayed equation just after Equation (3.76) p85, the left-hand side should be <math>[\mathcal{V}_s]</math> (the brackets are missing).
* Near the end of Chapter 3.6 Software p97, the function "AxisAng" should be written "AxisAng6."
* Exercise 3.16(i) asks for "the <math>\{q,\hat{s},h\}</math> representation" but it should say "a <math>\{q,\hat{s},h\}</math> representation" since <math>q</math> is not unique.
* Exercise 3.16(i) p103 asks for "the" <math>\{q,\hat{s},h\}</math> representation but it should say "a" <math>\{q,\hat{s},h\}</math> representation (since <math>q</math> is not unique). Replace "the" with "a".
* Near the end of Chapter 3.6 Software, the function "AxisAng" should be written "AxisAng6."


=== Chapter 4 ===
=== Chapter 4 ===


* Example 4.1, last row of the table (screw axis for joint 3): The linear component <math>v_i</math> should be <math>(0, -L_2, 0)</math> (the <math>-</math> sign is missing).
* Example 4.1, last row of the table (screw axis for joint 3), middle of p122: The linear component <math>v_i</math> should be <math>(0, -L_2, 0)</math> (the <math>-</math> sign is missing).


=== Chapter 5 ===
=== Chapter 5 ===


* Equation (5.7): The the first two terms on the right-hand side of the equation should be <math>J_{s1} \dot{\theta}_1 + J_{s2}(\theta) \dot{\theta}_2</math>.
* Equation (5.7) p153: The the first two terms on the right-hand side of the equation should be <math>J_{s1} \dot{\theta}_1 + J_{s2}(\theta) \dot{\theta}_2</math>.


* Exercise 5.2(b): The wrench applied by the last link, expressed in the {s} frame, is 5 N in the <math>\hat{\text{y}}_{\text{s}}</math> direction, with zeros in all other components. (The wording seems to imply that the force is through the tip of the last link, which is incorrect.)
* Exercise 5.2(b) p173: Change (a) to "Suppose that the last link must apply a wrench corresponding to a force of ..." (then continue as current, "5 N in the..."). In (b), change "the tip" to "the last link".

* Exercise 5.16 and Figure 5.26: The robot is referred to as PRRRRR, but it is PRPRRR.


* Figure 5.15(b): The circular arrow indicating the rotation of joint 3 is slightly misplaced.
* Figure 5.15(b): The circular arrow indicating the rotation of joint 3 is slightly misplaced.


* Exercise 5.16 p180: change "PRRRRR" to "PRPRRR". Similarly, caption of Figure 5.26, p181, change "PRRRRR" to "PRPRRR."
* Exercise 5.25: This problem instructs you to use the space Jacobian, so you should use it for the manipulability ellipsoids in this problem (even though it is generally preferred to use the body Jacobian for manipulability ellipsoids).

* Exercise 5.25(b) p186: At the end of part (b), add the sentence "Comment on why it is usually preferred to use the body Jacobian instead of the space Jacobian for the manipulability ellipsoid."


<TO HERE>


=== Chapter 6 ===
=== Chapter 6 ===

Revision as of 07:22, 7 June 2019

Chapter 1

  • p3, middle: "convenient way to calculate a lower bound on the dof" should be "convenient way to calculate the dof"

Chapter 2

  • Proposition 2.2, p16: "This formula holds only if all joint constraints are independent. If they are not independent then the formula provides a lower bound on the number of degrees of freedom." should be "This formula holds in "generic" cases, but it fails under certain configurations of the links and joints, such as when the joint constraints are not independent."
  • Chapter 2.2.2, Example 2.3, p16: "Substituting" is misspelled.
  • Eliminate two sentences on p19: "Grubler's formula provides ... are discussed in Chapter 7."
  • Fifth bullet of Chapter 2.6 p32: Eliminate the last sentence "If the constraints enforced ... degrees of freedom."

Chapter 3

  • In the caption of Figure 3.3 p53, should read , and should read .
  • Under "Representing a configuration" in Chapter 3.3.1.2 p78 near the bottom, the text says " represents {b} relative to {c}" but it should say "represents {c} relative to {b}".
  • There is a typo in the final matrix, , of Example 3.19, p82. The term should be .
  • In the displayed equation just after Equation (3.76) p85, the left-hand side should be (the brackets are missing).
  • Near the end of Chapter 3.6 Software p97, the function "AxisAng" should be written "AxisAng6."
  • Exercise 3.16(i) p103 asks for "the" representation but it should say "a" representation (since is not unique). Replace "the" with "a".

Chapter 4

  • Example 4.1, last row of the table (screw axis for joint 3), middle of p122: The linear component should be (the sign is missing).

Chapter 5

  • Equation (5.7) p153: The the first two terms on the right-hand side of the equation should be .
  • Exercise 5.2(b) p173: Change (a) to "Suppose that the last link must apply a wrench corresponding to a force of ..." (then continue as current, "5 N in the..."). In (b), change "the tip" to "the last link".
  • Figure 5.15(b): The circular arrow indicating the rotation of joint 3 is slightly misplaced.
  • Exercise 5.16 p180: change "PRRRRR" to "PRPRRR". Similarly, caption of Figure 5.26, p181, change "PRRRRR" to "PRPRRR."
  • Exercise 5.25(b) p186: At the end of part (b), add the sentence "Comment on why it is usually preferred to use the body Jacobian instead of the space Jacobian for the manipulability ellipsoid."

<TO HERE>

Chapter 6

  • Chapter 6.3, first line after Eq (6.7): the matrices and are referred to as twists, but these are the se(3) matrix representations of the twists.

Chapter 7

  • Just below caption for Figure 7.8: There is an extraneous dot.

Chapter 8

  • In Equation (8.14), should be replaced by .
  • Figure 8.5 says the volume of the rectangular parallelepiped is but it should be .
  • End of first sentence after Eq (8.26) in Section 8.2.1 should read "columns of correspond to the eigenvectors of ." (The word "eigenvalues" should be replaced by "eigenvectors.")
  • Caption of Figure 8.10: The operating region is light gray and the continuous operating region is dark gray.
  • Exercise 8.6(a): The expression has the indices switched; the correct expression is .
  • Exercise 8.7: The expression should be written:

Chapter 10

  • Equation (10.4) should read (the plus sign in the book should be a minus sign).

Chapter 11

  • In the displayed equation after Equation (11.18), the vector is a six-vector. The bottom three elements are written correctly, but the top three elements, an angular velocity, are written instead in their 3x3 form. Also, the term written should be written .
  • In Equation (11.33), the right-hand side should be zero ().
  • Figure 11.24, the Robonaut 2 series elastic actuator, 4th sentence of the caption: The words "outer" and "inner" should be switched, so the new sentence reads "The inner ring of hole mounts connects to the harmonic gearhead output, and the outer ring of hole mounts is the output of the SEA, connecting to the next link."

Chapter 12

  • In Example 12.4, the elements of the wrenches are erroneously written in the order ; they should be written in the order , i.e., , respectively.
  • Caption of Figure 12.14, second-to-last sentence: "rotation if possible" should be "rotation is possible."

Chapter 13

  • Equation (13.29): should be .

Appendix C

  • Section C.3, Equation (C.5): All instances of should be replaced by .
  • In Equation (C.12), two instances of should be replaced by .



A partial list of errata contributors

Thanks to the following people who provided corrections, starting from the preliminary version of the book posted in October, 2016:

H. Andy Nam, Eric Lee, Yuchen Rao, Chainatee Tanakulrongson, Mengjiao Hong, Kevin Cheng, Jens Lundell, Elton Cheng, Michael Young, Jarvis Schultz, Logan Springgate, Sofya Akhmametyeva, Aykut Onol, Josh Holcomb, Yue Chen, Mark Shi, AJ Ibraheem, Yalun Wen, Seongjae Jeong, Josh Mehling, Felix Wang, Drew Warren, Chris Miller, Clemens Eppner, Zack Woodruff, Jian Shi, Jixiang Zhang, Shachar Liberman, Will Wu, Dirk Boysen, Awe Wang, Ville Kyrki, John Troll, Andrew Taylor, Nikhil Bakshi