# Modern Robotics Errata

From Mech

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

## Contents |

### 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
*v*_{Ax}− ω_{Az}*p*_{Ay}+ ω_{Ay}*p*_{Az}=*v*_{Bx}− ω_{Bz}*p*_{By}+ ω_{By}*p*_{Bz}. This affects the figure at bottom left of Figure 12.3 on p467. Equation (12.10) should be*v*_{Ax}− 2ω_{Az}=*v*_{Bx}− 2ω_{Bz}. The first rolling constraint on p468 should then be*v*_{Ax}− 2ω_{Az}= 0.

### Chapter 13

- p518, equations (13.7) and (13.8): the rows in the matrices should be numbered to
*m*, not*n*.

- 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
*r*_{31}= − 1". Case (c) should be "If*r*_{31}= 1".