# Modern Robotics Errata

From Mech

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

## Contents |

## Significant corrections

### Chapter 5

- Equation (5.7): The second term on the right-hand side should be .

### Chapter 6

- Chapter 6.3, first line after Eq (6.7): the matrices and are referred to as twists, but these are the se(3) matrix representations of the twists.

### Chapter 8

- Figure 8.5 says the volume of the rectangular parallelepiped is
*a**b**c*but it should be*h**l**w*.

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

### Chapter 1

- (online version only) Description of Chapter 6: "jont positions" should be "joint positions."

### Chapter 2

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

### Chapter 6

- (online version only) Figure 6.7: θ
_{0}should be θ^{0}(five times) and θ_{1}should be θ^{1}(one time).

### Chapter 7

- Just below caption for Figure 7.8: There is an extraneous dot.

### Chapter 8

- (online version only) Chapter 8.1.1, last paragraph: is improperly typeset.