Modern Robotics Errata

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Please click here to report any corrections for the book. (Please make sure you are using the May 3, 2017, version of the book.)

Errata below are for the preprint version posted on May 3, 2017. Thanks to everyone that provided corrections to the previous version!

Contents

Chapter 8

  • Chapter 8.1.1, p276, 2nd line from bottom: Failed to parse (unknown function\math): \dot{\theta}_1<\math> is improperly typeset. <!-- ===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 <math>\frac{1}{2} \mathcal{V}_a^T \mathcal{G}_a \mathcal{G}_a
should be replaced by \frac{1}{2} \mathcal{V}_a^T \mathcal{G}_a \mathcal{V}_a.

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 r31 = − 1". Case (c) should be "If r31 = 1".

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