Difference between revisions of "Modern Robotics Errata"

From Mech
Jump to navigationJump to search
Line 9: Line 9:
* 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).
* 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}..."
* 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===

* 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>.


===Chapter 11===
===Chapter 11===
Line 17: Line 21:


* 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>.
* 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>.

===Chapter 8===

* 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>.


===Chapter 13===
===Chapter 13===

Revision as of 07:29, 23 February 2017

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).
  • 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

  • In the first line of the first (unnumbered) equation of Chapter 8.2.3, the expression should be replaced by .

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).

Appendix B

  • p577: First line of sec B.1.1, the angle ranges should be . Case (b) should be "If ". Case (c) should be "If ".