Modern Robotics Errata

(Difference between revisions)

Errata below are for the preprint version posted on May 3, 2017. Thanks to everyone who provided corrections to the previous version!

Significant corrections

Chapter 6

• Chapter 6.3, first line after Eq (6.7): the matrices $T_{sd}^{-1} \dot{T}_{sd}$ and $\dot{T}_{sd} T_{sd}^{-1}$ are referred to as twists, but these are the se(3) matrix representations of the twists.

Minor corrections, no danger of misunderstanding

Chapter 2

• Chapter 2.2.2, Example 2.3: "Substituting" is misspelled.

Chapter 6

• Figure 6.7: θ0 should be θ0 (five times) and θ1 should be θ1 (one time).

Chapter 8

• (online version only) Chapter 8.1.1, last paragraph: $\dot{\theta}_1$ is improperly typeset.