Difference between revisions of "Modern Robotics Errata"
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* 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 <math>v_{Ax} - \omega_{Az} p_{Ay} + \omega_{Ay} p_{Az} = v_{Bx} - \omega_{Bz} p_{By} + \omega_{By} p_{Bz}</math>. This affects the figure at bottom left of Figure 12.3 on p467. Equation (12.10) should be <math>v_{Ax} - 2 \omega_{Az} = v_{Bx} - 2 \omega_{Bz}</math>. The first rolling constraint on p468 should then be <math>v_{Ax} - 2 \omega_{Az} = 0 </math>. |
* 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 <math>v_{Ax} - \omega_{Az} p_{Ay} + \omega_{Ay} p_{Az} = v_{Bx} - \omega_{Bz} p_{By} + \omega_{By} p_{Bz}</math>. This affects the figure at bottom left of Figure 12.3 on p467. Equation (12.10) should be <math>v_{Ax} - 2 \omega_{Az} = v_{Bx} - 2 \omega_{Bz}</math>. The first rolling constraint on p468 should then be <math>v_{Ax} - 2 \omega_{Az} = 0 </math>. |
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===Chapter 8=== |
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* 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</math> should be replaced by <math>\frac{1}{2} \mathcal{V}_a^T \mathcal{G}_a \mathcal{V}_a</math>. |
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===Chapter 13=== |
===Chapter 13=== |
Revision as of 07:28, 23 February 2017
Errata below are for the preprint version posted on November 29, 2016.
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 11
- p419, the line just before equation (11.16): the expression should read (the square brackets around 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 . This affects the figure at bottom left of Figure 12.3 on p467. Equation (12.10) should be . The first rolling constraint on p468 should then be .
Chapter 8
- In the first line of the first (unnumbered) equation of Chapter 8.2.3, the expression should be replaced by .
Chapter 13
- p518, equations (13.7) and (13.8): the rows in the matrices should be numbered to , not .
- p550, line just after equation (13.37): the expression should read (the square brackets around are missing).
Appendix B
- p577: First line of sec B.1.1, the angle ranges should be . Case (b) should be "If ". Case (c) should be "If ".