# Modern Robotics Errata

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

## Significant corrections

### Chapter 6

• Chapter 6.3, first line after Eq (6.7): the matrices $T_{sd}^{-1} \dot{T}_{sd}$ and $\dot{T}_{sd} T_{sd}^{-1}$ are referred to as twists, but these are the se(3) matrix representations of the twists.

## Minor typos, etc., no danger of misunderstanding

### Chapter 2

• Chapter 2.2.2, Example 2.3: "Substituting" is misspelled.

### Chapter 6

• Figure 6.7: θ0 should be θ0 (five times) and θ1 should be θ1 (one time).

### Chapter 7

• (online version only) Page 259, just below caption for Figure 7.8: There is an extraneous dot.

### Chapter 8

• (online version only) Chapter 8.1.1, last paragraph: $\dot{\theta}_1$ is improperly typeset.