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)
- 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).
- p419, the line just before equation (11.16): the expression should read (the square brackets around are missing).
- 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.
- 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).