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 who provided corrections to the previous version!


Contents

Significant corrections

Chapter 5

  • Equation (5.7): The second term on the right-hand side of the equation should be J_{s2}(\theta) \dot{\theta}_2.

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.

Chapter 8

  • Figure 8.5 says the volume of the rectangular parallelepiped is abc but it should be hlw.

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: θ0 should be θ0 (five times) and θ1 should be θ1 (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: \dot{\theta}_1 is improperly typeset.

A partial list of errata contributors

Starting from the preliminary version of the book posted in October, 2016:

H. Andy Nam, Eric Lee, Yuchen Rao, Chainatee Tanakulrongson, Mengjiao Hong, Kevin Cheng, Jens Lundell, Elton Cheng, Michael Young, Jarvis Schultz, Logan Springgate, Sofya Akhmametyeva, Aykut Onol, Josh Holcomb, Yue Chen, Mark Shi, AJ Ibraheem, Yalun Wen


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