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).

Chapter 11

• p419, the line just before equation (11.16): the expression should read $[{\mathcal {V}}_{b}]=X^{-1}{\dot {X}}$ (the square brackets around 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}_b} are missing).

Chapter 13

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

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