Difference between revisions of "Modern Robotics Errata"

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[https://docs.google.com/forms/d/1iZ_3LsWR1iuPJmRsUQsa2ehZj6p-qKQfx8NRKaTlIuE/edit '''Please click here to report any corrections for the book. (Please make sure you are using the May 3, 2017, version of the book.)''']
[https://docs.google.com/forms/d/1iZ_3LsWR1iuPJmRsUQsa2ehZj6p-qKQfx8NRKaTlIuE/edit '''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 preprint version posted on May 3, 2017. Thanks to everyone that provided corrections to the previous version!
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!


<!--
=== Chapter 2 ===


== Significant corrections ==
* Chapter 2.2.2, Example 2.3: "Substituting" is misspelled.

-->
=== Chapter 5 ===

* Equation (5.7): The second term on the right-hand side of the equation should be <math>J_{s2}(\theta) \dot{\theta}_2</math>.

=== Chapter 6 ===

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


=== Chapter 8 ===
=== Chapter 8 ===


* Figure 8.5 says the volume of the rectangular parallelepiped is <math>abc</math> but it should be <math>hlw</math>.
* Chapter 8.1.1, p276, 2nd line from bottom: <math>\dot{\theta}_1</math> is improperly typeset.


* 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>.
<!--
===Chapter 1===


* p4: "screw theor." should be "screw theory." (near bottom of page)
* Exercise 8.7: The expression should be written:
<math>
\dot{M} = -\mathcal{A}^{\rm T} \mathcal{L}^{\rm T} \mathcal{W}^{\rm T} [\mbox{ad}_{\mathcal{A} \dot{\theta}}]^{\rm T} \mathcal{L}^{\rm T} \mathcal{GLA} -
\mathcal{A}^{\rm T} \mathcal{L}^{\rm T} \mathcal{GL} [\mbox{ad}_{\mathcal{A} \dot{\theta}}] \mathcal{WLA}
</math>


===Chapter 3===
=== Chapter 11 ===


* In the displayed equation after Equation (11.18), the vector <math>X_e(t)</math> 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 <math>so(3)</math> form.
* 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}..."


* Figure 11.24, the Robonaut 2 series elastic actuator, 4th sentence of the caption: The words "outer" and "inner" should be switched to read "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 8===

== 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: <math>\theta_0</math> should be <math>\theta^0</math> (five times) and <math>\theta_1</math> should be <math>\theta^1</math> (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: <math>\dot{\theta}_1</math> is improperly typeset.
* In the first line of the first (unnumbered) equation of Chapter 8.2.3, the expression <math>\frac{1}{2} \mathcal{V}_a^T \mathcal{G}_a \mathcal{G}_a</math> should be replaced by <math>\frac{1}{2} \mathcal{V}_a^T \mathcal{G}_a \mathcal{V}_a</math>.


== A partial list of errata contributors ==
===Chapter 11===


Thanks to the following people who provided corrections, starting from the preliminary version of the book posted in October, 2016:
* p419, the line just before equation (11.16): the expression should read <math>[\mathcal{V}_b] = X^{-1} \dot{X}</math> (the square brackets around <math>\mathcal{V}_b</math> are missing).


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
===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 <math>v_{Ax} - \omega_{Az} p_{Ay} + \omega_{Ay} p_{Az} = v_{Bx} - \omega_{Bz} p_{By} + \omega_{By} p_{Bz}</math>. This affects the figure at bottom left of Figure 12.3 on p467. Equation (12.10) should be <math>v_{Ax} - 2 \omega_{Az} = v_{Bx} - 2 \omega_{Bz}</math>. The first rolling constraint on p468 should then be <math>v_{Ax} - 2 \omega_{Az} = 0 </math>.
Other minor things, not worth mentioning:


Eq (5.4): transpose should be roman, not italic
===Chapter 13===


near end of chap 7.2.1: the inverse transpose should be roman
* p518, equations (13.7) and (13.8): the rows in the matrices should be numbered to <math>m</math>, not <math>n</math>.


Chapters 5.1.6 and 6.3 use term "(inverse) velocity kinematics" while 7.2 uses the term "differential kinematics"
* 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).


Eq (8.21) and equation before: inverse transposes are italic, not roman.
===Appendix B===


Eq (8.81): no reason to make tau a function of time, since it is not done for the others.
* 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>".


Chapter 8.6: several instances of inverse transpose being italic, not roman.
-->
-->

Revision as of 18:07, 18 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.
  • Figure 11.24, the Robonaut 2 series elastic actuator, 4th sentence of the caption: The words "outer" and "inner" should be switched to read "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."

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, Josh Mehling