# Modern Robotics Errata

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 11

• p419, the line just before equation (11.16): the expression should read $[\mathcal{V}_b] = X^{-1} \dot{X}$ (the square brackets around $\mathcal{V}_b$ 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 vAx − ωAzpAy + ωAypAz = vBx − ωBzpBy + ωBypBz. This affects the figure at bottom left of Figure 12.3 on p467. Equation (12.10) should be vAx − 2ωAz = vBx − 2ωBz. The first rolling constraint on p468 should then be vAx − 2ωAz = 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 $[\mathcal{V}_d(t)] = X_d^{-1}(t) \dot{X}_d(t)$ (the square brackets around $\mathcal{V}_d(t)$ are missing).

### Appendix B

• p577: First line of sec B.1.1, the angle ranges should be $\alpha, \gamma \in (-\pi,\pi]$. Case (b) should be "If Failed to parse (unknown function\math): r_{31} = -1<\math>". Case (c) should be "If [itex]r_{31} = 1<\math>". <!-- Other, minor things: -->