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, version of the book.)''']


'''[[Modern Robotics Errata, First Edition Version 1|The errata for the original first edition can be found here]].'''
Errata below are for the preprint version posted on May 3, 2017. Thanks to everyone that provided corrections to the previous version!


[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.''']
=== Chapter 8 ===


== Book: Significant corrections ==
* Chapter 8.1.1, p276, 2nd line from bottom: <math>\dot{\theta}_1<\math> is improperly typeset.


=== Chapter 3 ===
<!--
===Chapter 1===


* (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}".
* p4: "screw theor." should be "screw theory." (near bottom of page)
* 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 <math>A</math> should be 0 (it is incorrectly written as 1).'''


===Chapter 3===
=== Chapter 8 ===

* 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}..."

===Chapter 8===


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


== Book: Minor typos, etc., no danger of misunderstanding ==
===Chapter 11===


=== Throughout the book ===
* 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).


* The V-REP simulator has been discontinued and replaced by the [https://www.coppeliarobotics.com/ CoppeliaSim] simulator. This does not change anything in the book (or the simulation scenes provided to accompany the book).
===Chapter 12===


=== Chapter 6 ===
* 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>.


* (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." '''
===Chapter 13===
* (printed version only) Chapter 6.3, first sentence after Equation (6.7): "however small" should be written "however, small" to avoid ambiguity.


=== Chapter 11 ===
* p518, equations (13.7) and (13.8): the rows in the matrices should be numbered to <math>m</math>, not <math>n</math>.


* (online version only) Chapter 11.3.3: The sentence containing Equation (11.18) is missing a period at the end.
* 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).


== A partial list of errata contributors ==
===Appendix B===


Thanks to the following people who provided corrections, starting from the preliminary version of the book posted in October, 2016:
* 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>".


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
-->

Revision as of 06:24, 2 April 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

Throughout the book

  • The V-REP simulator has been discontinued and replaced by the CoppeliaSim simulator. This does not change anything in the book (or the simulation scenes provided to accompany the book).

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.

Chapter 11

  • (online version only) Chapter 11.3.3: The sentence containing Equation (11.18) is missing a period at the end.

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