Difference between revisions of "Modern Robotics Errata"

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* 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
* 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>
<math>
v_{Ax} - \omega_{Az} p_{Ay} + \omega_{Ay} p_{Az} = v_{Bx} - \omega_{Bz} p_{By} + \omega_{By} p_{Bz}.
v_{Ax} - \omega_{Az} p_{Ay} + \omega_{Ay} p_{Az} = v_{Bx} - \omega_{Bz} p_{By} + \omega_{By} p_{Bz}
</math>
</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>.
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>.



Revision as of 12:17, 31 December 2016

Errata below are for the preprint version posted on November 29, 2016.

Chapter 1

  • p4: "screw theor." should be "screw theory." (near bottom of page)

Chapter 3

  • 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).

Chapter 11

  • p419, the line just before equation (11.16): the expression should read (the square brackets around are missing).

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

. This affects the figure at bottom left of Figure 12.3 on p467. Equation (12.10) should be . The first rolling constraint on p468 should then be .

Chapter 13

  • p518, equations (13.7) and (13.8): the rows in the matrices should be numbered to , not .
  • p550, line just after equation (13.37): the expression should read (the square brackets around are missing).