Difference between revisions of "Modern Robotics Errata"

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* p550, line just after equation (13.37): the expression should read <math>[\mathcal{V}_d(t)] = X_d^{-1}(t) \dot{X}_d(t)</math> (the square brackets around <math>\mathcal{V}_d(t)</math> are missing).
* p550, line just after equation (13.37): the expression should read <math>[\mathcal{V}_d(t)] = X_d^{-1}(t) \dot{X}_d(t)</math> (the square brackets around <math>\mathcal{V}_d(t)</math> are missing).

===Appendix B===

* p577: First line of sec B.1.1, the angle ranges should be <math>alpha, gamma \in (-\pi,\pi]</math>. Case (b) should be "If <math>r_{31} = -1<\math>". Case (c) should be "If <math>r_{31} = 1<\math>".


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Revision as of 01:12, 9 February 2017

Errata below are for the preprint version posted on November 29, 2016.

Chapter 1

  • p4: "screw theor." should be "screw theory." (near bottom of page)

Chapter 3

  • p93: The definition of the Trans(p) matrix should have the identity matrix as the top left 3x3 submatrix (shown in the book as the zero matrix).
  • p101: The sentence "More generally, for any two frames {c} and {c}..." should be "More generally, for any two frames {c} and {d}..."

Chapter 11

  • p419, the line just before equation (11.16): the expression should read (the square brackets around are missing).

Chapter 12

  • p466, 467, 468: Typos in the first equation of the list of three near the bottom of page 466 are propagated to pages 467 and 468. The first equation should be . This affects the figure at bottom left of Figure 12.3 on p467. Equation (12.10) should be . The first rolling constraint on p468 should then be .

Chapter 13

  • p518, equations (13.7) and (13.8): the rows in the matrices should be numbered to , not .
  • p550, line just after equation (13.37): the expression should read (the square brackets around are missing).

Appendix B

  • p577: First line of sec B.1.1, the angle ranges should be . Case (b) should be "If <math>r_{31} = -1<\math>". Case (c) should be "If <math>r_{31} = 1<\math>".