Difference between revisions of "Modern Robotics Errata"

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* Exercise 8.6(a): The expression <math>\text{ad}_{J_i}(J_j)</math> has the indices switched; the correct expression is <math>\text{ad}_{J_j}(J_i)</math>.
* Exercise 8.6(a): The expression <math>\text{ad}_{J_i}(J_j)</math> has the indices switched; the correct expression is <math>\text{ad}_{J_j}(J_i)</math>.


* Exercise 8.7: The expression should be written <math>\dot{M} =
* Exercise 8.7: The expression should be written:
-{\cal A}^{\rm T} {\cal L}^{\rm T} \mathcal{W}^{\rm T} [\mbox{ad}_{{\cal A} \dot{\theta}}]^{\rm T}
{\cal L}^{\rm T} {\cal G} {\cal L} {\cal A}
- {\cal A}^{\rm T} {\cal L}^{\rm T} {\cal G} {\cal L}
[\mbox{ad}_{{\cal A} \dot{\theta}}] \mathcal{WL} {\cal A}</math>.


=== Chapter 11 ===
=== Chapter 11 ===

Revision as of 06:34, 3 September 2017

Please click here to report any corrections for the book. (Please make sure you are using the May 3, 2017, version of the book, or the hardcover book published by Cambridge University Press.)

Errata below are for the hardcover book published by Cambridge University Press and the preprint version of the book posted on May 3, 2017. Thanks to everyone who provided corrections to earlier versions!


Significant corrections

Chapter 5

  • Equation (5.7): The second term on the right-hand side of the equation should be .

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 8

  • Figure 8.5 says the volume of the rectangular parallelepiped is but it should be .
  • Exercise 8.6(a): The expression has the indices switched; the correct expression is .
  • Exercise 8.7: The expression should be written:

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.

Minor typos, etc., no danger of misunderstanding

Chapter 1

  • (online version only) Description of Chapter 6: "jont positions" should be "joint positions."

Chapter 2

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

Chapter 6

  • (online version only) Figure 6.7: should be (five times) and should be (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: is improperly typeset.

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