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 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
- a + b
- p577: First line of sec B.1.1, the angle ranges should be . Case (b) should be "If Failed to parse (unknown function\math): r_{31} = -1<\math>". Case (c) should be "If <math>r_{31} = 1<\math>". <!-- Other, minor things: -->