MR Second Printing - Revision history

Lynch: /* Chapter 12 */

2019-08-01T03:09:19Z

Chapter 12

Lynch: /* Chapter 5 */

2019-08-01T03:05:13Z

Chapter 5

Lynch: /* Chapter 2 */

2019-08-01T03:04:39Z

Chapter 2

Lynch at 03:04, 1 August 2019

2019-08-01T03:04:11Z

Lynch: /* Preface */

2019-07-24T11:15:33Z

Preface

Lynch: /* Overall */

2019-07-24T11:14:33Z

Overall

Lynch: /* Chapter 8 */

2019-07-24T11:14:07Z

Chapter 8

Lynch at 17:11, 11 July 2019

2019-07-11T17:11:02Z

Lynch: /* Overall */

2019-07-09T20:10:21Z

Overall

Lynch: /* A partial list of errata contributors */

2019-07-09T20:09:03Z

A partial list of errata contributors

@@ Line 158: / Line 158: @@
 * In Example 12.4 p404, the elements of the wrenches <math>\mathcal{F}_1, \mathcal{F}_2, \mathcal{F}_3</math> are erroneously written in the order <math>(f_x,f_y,m_z)</math>; they should be written in the order <math>(m_z,f_x,f_y)</math>.  In other words, change these to <math>(-2,0,1)</math>, <math>(1,-1,0)</math>, and <math>(1,1,0)</math>, respectively.  Also, I think the word "yield" right after <math>\mathcal{F}_3</math> should be "yielding."
+* <span style="color:#ff0000">In Chapter 12.1.6, just before Example 12.5, mention that point at infinity on the contact normal line correspond to translations and have +/- labels.  Parallel contact normals for multiple contacts leave that point at infinity still with the +/- label after intersecting their feasible CoRs.  </span>
 * Caption of Figure 12.14 p412, second-to-last sentence:  "rotation if possible" should be "rotation is possible."

@@ Line 63: / Line 63: @@
 * Equation (5.7) p153:  The the first two terms on the right-hand side of the equation should be <math>J_{s1} \dot{\theta}_1 + J_{s2}(\theta) \dot{\theta}_2</math>.
-* Exercise 5.2(b) p173:  Change (a) to "Suppose that the last link must apply a wrench corresponding to a force of ..." (then continue as current, "5 N in the...").  In (b), change "the tip" to "the last link".  <span style="color:#ff0000"> One more thing:  let's add to the end of the first sentence in (b), so it is now "...direction, with zero components in other wrench directions." </span>
+* Exercise 5.2(b) p173:  Change (a) to "Suppose that the last link must apply a wrench corresponding to a force of ..." (then continue as current, "5 N in the...").  In (b), change "the tip" to "the last link".   One more thing:  let's add to the end of the first sentence in (b), so it is now "...direction, with zero components in other wrench directions."
-* Figure 5.15(b) p174:  The circular arrow indicating the rotation of joint 3 is slightly misplaced.  <span style="color:#ff0000">Kevin can provide.</span>
+* Figure 5.15(b) p174:  The circular arrow indicating the rotation of joint 3 is slightly misplaced.  Kevin can provide.
 * Exercise 5.11(a) p178:  Change "What are the..." to "Is this motion possible?  If so, what are the ..."

@@ Line 37: / Line 37: @@
 === Chapter 2 ===
-* Proposition 2.2, p16:  "This formula holds only if all joint constraints are independent.  If they are not independent then the formula provides a lower bound on the number of degrees of freedom." should be "This formula holds in "generic" cases, but it fails under certain configurations of the links and joints, such as when the joint constraints are not independent."  <span style="color:#ff0000"> In your correction, you say ... "generic cases", ... as opposed to the suggested ... "generic" cases, ...  .  I prefer my suggested ... "generic" cases, ... but if there is a reason why your wording is better, shouldn't the comma be inside the quotes? </span>
+* Proposition 2.2, p16:  "This formula holds only if all joint constraints are independent.  If they are not independent then the formula provides a lower bound on the number of degrees of freedom." should be "This formula holds in "generic" cases, but it fails under certain configurations of the links and joints, such as when the joint constraints are not independent."  (In your correction, you say ... "generic cases", ... as opposed to the suggested ... "generic" cases, ...  .  I prefer my suggested ... "generic" cases, ... but if there is a reason why your wording is better, shouldn't the comma be inside the quotes?)
 * Chapter 2.2.2, Example 2.3, p16:  "Substituting" is misspelled.

@@ Line 1: / Line 1: @@
 === Overall ===
-<span style="color:#ff0000">In the "partial list of errata contributors," perhaps add "and" before the last name.  Also, "posted in October, 2016" should be "posted online in October, 2016" to be more specific.
+<span style="color:#ff0000">'''Updates in red were added Aug 2019 or later, after the list of changes was given to David.'''</span>
-</span>
+In the "partial list of errata contributors," perhaps add "and" before the last name.  Also, "posted in October, 2016" should be "posted online in October, 2016" to be more specific.
 There are a few places in the book where we have an italic ''T'' instead of a roman T for transpose, often where they are preceded by a negative (inverse) sign.  These should be corrected.  The ones we're aware of are listed below:
@@ Line 12: / Line 13: @@
 * p239:  eq (8.21) and equation just above.
-* <span style="color:#ff0000"> p254:  Eqs (8.75), (8.76), (8.78), (8.79), 8.80) </span>
+* p254:  Eqs (8.75), (8.76), (8.78), (8.79), 8.80)
 * pp256-7:  several instances in Ch 8.6.  Just after eq (8.87) (two times), four times in eq (8.88), just after (8.88), and (8.90) and (8.91).
 * p272, in each of the two displayed equations in the 2nd bullet
-* <span style="color:#ff0000"> p491, second-to-last bullet, in each of the two displayed equations and the in-line equation just after. </span>
+* p491, second-to-last bullet, in each of the two displayed equations and the in-line equation just after.
 === Preface ===
@@ Line 156: / Line 157: @@
 === Chapter 12 ===
-* In Example 12.4 p404, the elements of the wrenches <math>\mathcal{F}_1, \mathcal{F}_2, \mathcal{F}_3</math> are erroneously written in the order <math>(f_x,f_y,m_z)</math>; they should be written in the order <math>(m_z,f_x,f_y)</math>.  In other words, change these to <math>(-2,0,1)</math>, <math>(1,-1,0)</math>, and <math>(1,1,0)</math>, respectively.  <span style="color:#ff0000"> Also, I think the word "yield" right after <math>\mathcal{F}_3</math> should be "yielding."</span>
+* In Example 12.4 p404, the elements of the wrenches <math>\mathcal{F}_1, \mathcal{F}_2, \mathcal{F}_3</math> are erroneously written in the order <math>(f_x,f_y,m_z)</math>; they should be written in the order <math>(m_z,f_x,f_y)</math>.  In other words, change these to <math>(-2,0,1)</math>, <math>(1,-1,0)</math>, and <math>(1,1,0)</math>, respectively.  Also, I think the word "yield" right after <math>\mathcal{F}_3</math> should be "yielding."
 * Caption of Figure 12.14 p412, second-to-last sentence:  "rotation if possible" should be "rotation is possible."
@@ Line 164: / Line 165: @@
 * Equation (13.29) p467:  <math>y_p</math> should be <math>y_P</math> (P is capitalized).
-* p469, first line just below the figure:  get rid of the absolute value signs, so should be $v_d \neq 0$.  <span style="color:#ff0000">The statement is equivalent with and without the absolute value signs, so we got rid of them.</span>
+* p469, first line just below the figure:  get rid of the absolute value signs, so should be $v_d \neq 0$.  The statement is equivalent with and without the absolute value signs, so we got rid of them.
 === Appendix C ===

@@ Line 24: / Line 24: @@
 (This is a very minor change, so I don't think we have to re-date the preface or provide a separate update.)
-* p xv:  Change "A partial list of errata contributors." in the preface to "Notes on the second printing."  Then have:
+* p xv:  '''Several updates at the end of the preface.'''  Change "A partial list of errata contributors." in the preface to "Notes on the second printing."  Then have:
 Readers are encouraged to consult the companion website \url{http://modernrobotics.org} for more information on the Modern Robotics software library, videos, online courses, robot simulations, practice problems with solutions, errata, a linear algebra refresher chapter, and more.

@@ Line 128: / Line 128: @@
 * p258:  In the parenthetical text a few lines before Equation (8.95):  "...there is an equality constraint..." should instead be "...there is also an inequality constraint..."
-* '''Update Chapter 8.7 with an example and clearer text describing the equations.'''
+* '''Update Chapter 8.7 with an example and clearer text describing the equations, as in the Dropbox directory "Robotics Textbook Second Edition Sandbox".'''
 * Caption of Figure 8.10 p264:  The operating region is light gray and the continuous operating region is dark gray (swap the two parenthetical statements).

← Older revision		Revision as of 20:09, 9 July 2019
Line 166:		Line 166:
	Thanks to the following people who provided corrections, starting from the preliminary version of the book posted in October, 2016:		Thanks to the following people who provided corrections, 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, Seongjae Jeong, Josh Mehling, Felix Wang, Drew Warren, Chris Miller, Clemens Eppner, Zack Woodruff, Jian Shi, Jixiang Zhang, Shachar Liberman, Will Wu, Dirk Boysen, Awe Wang, Ville Kyrki, John Troll, Andrew Taylor, Nikhil Bakshi		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, Seongjae Jeong, Josh Mehling, Felix Wang, Drew Warren, Chris Miller, Clemens Eppner, Zack Woodruff, Jian Shi, Jixiang Zhang, Shachar Liberman, Will Wu, Dirk Boysen, Awe Wang, Ville Kyrki, John Troll, Andrew Taylor, and Nikhil Bakshi