Modern Robotics Errata

Please click here to report any corrections for the book. (Please make sure you are using the May 3, 2017, version of the book, or the hardcover book published by Cambridge University Press.)

Errata below are for the hardcover book published by Cambridge University Press and the preprint version of the book posted on May 3, 2017. Thanks to everyone who provided corrections to earlier versions!

Significant corrections

Chapter 3

• In the displayed equation just after Equation (3.76), the left-hand side should be Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle [\mathcal{V}_s]} (the brackets are missing).

Chapter 5

• Equation (5.7): The the first two terms on the right-hand side of the equation should be Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle J_{s1} \dot{\theta}_1 + 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 Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \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 Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle hlw} .

• Exercise 8.6(a): The expression ${\text{ad}}_{J_{i}}(J_{j})$ has the indices switched; the correct expression is Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \text{ad}_{J_j}(J_i)} .

• Exercise 8.7: The expression should be written:

${\dot {M}}=-{\mathcal {A}}^{\rm {T}}{\mathcal {L}}^{\rm {T}}{\mathcal {W}}^{\rm {T}}[{\mbox{ad}}_{{\mathcal {A}}{\dot {\theta }}}]^{\rm {T}}{\mathcal {L}}^{\rm {T}}{\mathcal {GLA}}-{\mathcal {A}}^{\rm {T}}{\mathcal {L}}^{\rm {T}}{\mathcal {GL}}[{\mbox{ad}}_{{\mathcal {A}}{\dot {\theta }}}]{\mathcal {WLA}}$

Chapter 11

• In the displayed equation after Equation (11.18), the vector Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle X_e(t)} is a six-vector. The bottom three elements are written correctly, but the top three elements, an angular velocity, are written instead in their 3x3 $so(3)$ form.

• Figure 11.24, the Robonaut 2 series elastic actuator, 4th sentence of the caption: The words "outer" and "inner" should be switched to read "The inner ring of hole mounts connects to the harmonic gearhead output, and the outer ring of hole mounts is the output of the SEA, connecting to the next link."

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: Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \theta_0} should be $\theta ^{0}$ (five times) and Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \theta_1} should be Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \theta^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: Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \dot{\theta}_1} is improperly typeset.

A partial list of errata contributors

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