Modern Robotics Errata

Please click here to report any corrections for the book. (Please make sure you are using the May 3, 2017, version of the book.)

Errata below are for the preprint version posted on May 3, 2017. Thanks to everyone who provided corrections to the previous version!

Significant corrections

Chapter 6

• Chapter 6.3, first line after Eq (6.7): the matrices $T_{sd}^{-1}{\dot {T}}_{sd}$ and ${\dot {T}}_{sd}T_{sd}^{-1}$ are referred to as twists, but these are the se(3) matrix representations of the twists.

Chapter 8

• Figure 8.5 says the volume of the rectangular parallelepiped is $abc$ but it should be $hlw$.

Minor typos, etc., no danger of misunderstanding

Chapter 2

• Chapter 2.2.2, Example 2.3: "Substituting" is misspelled.

Chapter 6

• (online version only) Figure 6.7: $\theta _{0}$ should be $\theta ^{0}$ (five times) and $\theta _{1}$ should be $\theta ^{1}$ (one time).

Chapter 7

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

Chapter 8

• (online version only) Chapter 8.1.1, last paragraph: ${\dot {\theta }}_{1}$ is improperly typeset.