Modern Robotics Errata
Errata below are for the preprint version posted on November 29, 2016.
p4: "screw theor." should be "screw theory." (near bottom of page)
p419, the line just before equation (11.16): the expression should read (the square brackets are missing).
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 are missing).