Modern Robotics Errata

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 $[{{𝒱}}_b]=X^{-1}\dot{X}$ (the square brackets around ${{𝒱}}_b$ 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 $v_{Ax}-{\omega }_{Az}{p}_{Ay}+{\omega }_{Ay}{p}_{Az}=v_{Bx}-{\omega }_{Bz}{p}_{By}+{\omega }_{By}{p}_{Bz}$. This affects the figure at bottom left of Figure 12.3 on p467. Equation (12.10) should be $v_{Ax}-2{\omega }_{Az}=v_{Bx}-2{\omega }_{Bz}$. The first rolling constraint on p468 should then be $v_{Ax}-2{\omega }_{Az}=0$.

Chapter 13

• p518, equations (13.7) and (13.8): the rows in the matrices should be numbered to $m$, not $n$.

• p550, line just after equation (13.37): the expression should read $[{{𝒱}}_d(t)]=X_d^{-1}(t){\dot{X}}_d(t)$ (the square brackets around ${{𝒱}}_d(t)$ are missing).

Appendix B

• $a+b$

• p577: First line of sec B.1.1, the angle ranges should be $\alpha ,\gamma \in (-\pi ,\pi ]$. Case (b) should be "If <math>r_{31} = -1<\math>". Case (c) should be "If <math>r_{31} = 1<\math>".