Difference between revisions of "Modern Robotics Errata"

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The errata below are for the [[Modern_Robotics|'''updated first edition of ''Modern Robotics'' ''']] (as well as the practice exercises and linear algebra refresher appendix). The updated first edition (also called "version 2") was originally published by Cambridge University Press in late 2019 (marked "3rd printing 2019" or later) and the corresponding online preprint is dated December 2019. The updated first edition includes several corrections and minor additions to the original first edition, which was originally published by Cambridge in May 2017, with a corresponding online preprint dated May 2017.
[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, online version of the book, or the hardcover book published by Cambridge University Press.)''']


'''[[Modern Robotics Errata, First Edition Version 1|The errata for the original first edition can be found here]].'''
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!


[https://docs.google.com/forms/d/1iZ_3LsWR1iuPJmRsUQsa2ehZj6p-qKQfx8NRKaTlIuE/edit '''Please click here to report any corrections for the updated first edition of the book, the practice exercises, or the linear algebra refresher appendix.''']


== Significant corrections ==
== Book: Significant corrections ==


=== Chapter 3 ===
=== Chapter 3 ===


* (printed version only) At the end of the introduction Exercise 3.16, it says "origin of {b} is at (0,2,0) is {s}" but "is {s}" should be "in {s}".
* In the caption of Figure 3.3, it should read <math>\hat{\text{x}}_{\text{b}} = (1/2, \sqrt{3}/2)</math> and <math>\hat{\text{y}}_{\text{b}} = (-\sqrt{3}/2, 1/2)</math>.
* Exercise 3.20, Figure 3.26: In the figure, the y and z axes for the {a}, {b}, and {c} frames are switched (y should point forward and z should point up). Also, the space frame is located at the bottom of the small wheel, directly below the {a} frame.
* There is a typo in the final matrix, <math>T_{ce}</math>. The term <math>130/\sqrt{2}</math> should be <math>160/\sqrt{2}</math>. (Also, there is no need to use <math>T_{ad}</math> in this example.)
* (printed version only) Exercise 3.25(a): the element in the third row and third column of the matrix <math>A</math> should be 0 (it is incorrectly written as 1).'''
* In the displayed equation just after Equation (3.76), the left-hand side should be <math>[\mathcal{V}_s]</math> (the brackets are missing).

=== Chapter 4 ===

* Example 4.1, last row of the table (screw axis for joint 3): The linear component <math>v_i</math> should be <math>(0, -L_2, 0)</math> (the <math>-</math> sign is missing).

=== Chapter 5 ===

* Equation (5.7): The the first two terms on the right-hand side of the equation should be <math>J_{s1} \dot{\theta}_1 + J_{s2}(\theta) \dot{\theta}_2</math>.

* 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 <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>.
* (printed version only) Equation (8.74): the first two plus signs should be minus signs.


== Book: Minor typos, etc., no danger of misunderstanding ==
* End of first sentence after Eq (8.26) in Section 8.2.1 should read "columns of <math>R_{bc}</math> correspond to the eigenvectors of <math>\mathcal{I}_b</math>." (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 <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 10 ===

* Equation (10.4) should read <math> u = F(q) - B \dot{q}</math> (the plus sign in the book should be a minus sign).

=== 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.

* In Equation (11.33), the right-hand side should be zero (<math>c = 0</math>).

* 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 <math>\phi_{i-1}</math> should be replaced by <math>\phi_i</math>.

== 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 ===
=== 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).
* (printed version only) Chapter 6.2.2, Example 6.1: just before the matrix <math>T_{sd}</math>, "corresponds to to" should be "corresponds to." '''
* (printed version only) Chapter 6.3, first sentence after Equation (6.7): "however small" should be written "however, small" to avoid ambiguity.

=== 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.

=== Chapter 12 ===

* Caption of Figure 12.14, second-to-last sentence: "rotation if possible" should be "rotation is possible."


== A partial list of errata contributors ==
== A partial list of errata contributors ==
Line 88: Line 28:
Thanks to the following people who provided corrections, starting from the preliminary version of the book posted in October, 2016:
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
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, Ville Kyrki, John Troll, Andrew Taylor, Nikhil Bakshi, Yunzhe Pan, Barrett Ames, Marcel Bonnici, Mahdiar Edraki

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

In figs showing blocks sliding in channels in chapter 2 (e.g., exercises), some show arrows to show the sliding motion possibility, others do not. Could be confusing, i.e., if arrows are missing maybe motion isn't possible.

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

After Eq (5.26), in text, transpose should be roman

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.

A few paragraphs after eq (13.31), it says the absolute value of v_d should not be zero. Should just say that v_d should not be zero.
-->

Revision as of 23:28, 24 January 2020

The errata below are for the updated first edition of Modern Robotics (as well as the practice exercises and linear algebra refresher appendix). The updated first edition (also called "version 2") was originally published by Cambridge University Press in late 2019 (marked "3rd printing 2019" or later) and the corresponding online preprint is dated December 2019. The updated first edition includes several corrections and minor additions to the original first edition, which was originally published by Cambridge in May 2017, with a corresponding online preprint dated May 2017.

The errata for the original first edition can be found here.

Please click here to report any corrections for the updated first edition of the book, the practice exercises, or the linear algebra refresher appendix.

Book: Significant corrections

Chapter 3

  • (printed version only) At the end of the introduction Exercise 3.16, it says "origin of {b} is at (0,2,0) is {s}" but "is {s}" should be "in {s}".
  • Exercise 3.20, Figure 3.26: In the figure, the y and z axes for the {a}, {b}, and {c} frames are switched (y should point forward and z should point up). Also, the space frame is located at the bottom of the small wheel, directly below the {a} frame.
  • (printed version only) Exercise 3.25(a): the element in the third row and third column of the matrix should be 0 (it is incorrectly written as 1).

Chapter 8

  • (printed version only) Equation (8.74): the first two plus signs should be minus signs.

Book: Minor typos, etc., no danger of misunderstanding

Chapter 6

  • (printed version only) Chapter 6.2.2, Example 6.1: just before the matrix , "corresponds to to" should be "corresponds to."
  • (printed version only) Chapter 6.3, first sentence after Equation (6.7): "however small" should be written "however, small" to avoid ambiguity.

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, Ville Kyrki, John Troll, Andrew Taylor, Nikhil Bakshi, Yunzhe Pan, Barrett Ames, Marcel Bonnici, Mahdiar Edraki