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 who 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!




== Significant corrections ==
== Significant corrections ==

=== 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 ===


* 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 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 ===

* Figure 8.5 says the volume of the rectangular parallelepiped is <math>abc</math> but it should be <math>hlw</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} = -\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 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.

* 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 ==
== 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 ===


Line 16: Line 44:
=== Chapter 6 ===
=== Chapter 6 ===


* 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).
* (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 ===
=== Chapter 8 ===


* (online version only) Chapter 8.1.1, last paragraph: <math>\dot{\theta}_1</math> is improperly typeset.
* (online version only) Chapter 8.1.1, last paragraph: <math>\dot{\theta}_1</math> 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


<!--
<!--
Other minor things, not worth mentioning:

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

near end of chap 7.2.1: the inverse transpose should be roman

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

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

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

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