Modern Robotics Errata
(→Significant corrections) 

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Revision as of 08:06, 7 December 2018
Errata below are for the hardcover book published by Cambridge University Press, the preprint version of the book posted on May 3, 2017, the practice exercises, and the linear algebra refresher appendix. Thanks to everyone who provided corrections to earlier versions!
Contents 
Significant corrections
Chapter 3
 In the caption of Figure 3.3, it should read and .
 There is a typo in the final matrix, T_{ce}. The term should be . (Also, there is no need to use T_{ad} in this example.)
 In the displayed equation just after Equation (3.76), the lefthand side should be (the brackets are missing).
 Exercise 3.16(i) asks for "the representation" but it should say "a representation" since q is not unique.
Chapter 4
 Example 4.1, last row of the table (screw axis for joint 3): The linear component v_{i} should be (0, − L_{2},0) (the − sign is missing).
Chapter 5
 Equation (5.7): The the first two terms on the righthand side of the equation should be .
 Exercise 5.2(b): The wrench applied by the last link, expressed in the {s} frame, is 5 N in the direction, with zeros in all other components. (The wording seems to imply that the force is through the tip of the last link, which is incorrect.)
 Exercise 5.16 and Figure 5.26: The robot is referred to as PRRRRR, but it is PRPRRR.
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
 In Equation (8.14), should be replaced by .
 Figure 8.5 says the volume of the rectangular parallelepiped is abc but it should be hlw.
 End of first sentence after Eq (8.26) in Section 8.2.1 should read "columns of R_{bc} correspond to the eigenvectors of ." (The word "eigenvalues" should be replaced by "eigenvectors.")
 Caption of Figure 8.10: The operating region is light gray and the continuous operating region is dark gray.
 Exercise 8.6(a): The expression has the indices switched; the correct expression is .
 Exercise 8.7: The expression should be written:
Chapter 10
 Equation (10.4) should read (the plus sign in the book should be a minus sign).
Chapter 11
 In the displayed equation after Equation (11.18), the vector X_{e}(t) is a sixvector. The bottom three elements are written correctly, but the top three elements, an angular velocity, are written instead in their 3x3 so(3) form.
 In Equation (11.33), the righthand side should be zero (c = 0).
 Figure 11.24, the Robonaut 2 series elastic actuator, 4th sentence of the caption: The words "outer" and "inner" should be switched, so the new sentence reads "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."
Appendix C
 Section C.3, Equation (C.5): All instances of ϕ_{i − 1} should be replaced by ϕ_{i}.
 In Equation (C.12), two instances of M_{i − 1} should be replaced by M_{i}.
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 5
 Figure 5.15(b): The circular arrow indicating the rotation of joint 3 is slightly misplaced.
 Exercise 5.25: This problem instructs you to use the space Jacobian, so you should use it for the manipulability ellipsoids in this problem (even though it is generally preferred to use the body Jacobian for manipulability ellipsoids).
Chapter 6
 (online version only) Figure 6.7: θ_{0} should be θ^{0} (five times) and θ_{1} should be θ^{1} (one time).
Chapter 7
 (online version only) Last line of first paragraph of Chapter 7.1: "valuees" should be "values."
 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.
Chapter 12
 Caption of Figure 12.14, secondtolast sentence: "rotation if possible" should be "rotation is possible."
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, Felix Wang, Drew Warren, Chris Miller, Clemens Eppner, Zack Woodruff, Jian Shi, Jixiang Zhang, Shachar Liberman, Will Wu, Dirk Boysen, Awe Wang