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 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] = 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 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 Failed to parse (Conversion error. Server ("https://wikimedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle 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 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 v_{Ax} - 2 \omega_{Az} = v_{Bx} - 2 \omega_{Bz}} . The first rolling constraint on p468 should then 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 v_{Ax} - 2 \omega_{Az} = 0 } .

Chapter 8

• In the first line of the first (unnumbered) equation of Chapter 8.2.3, the expression 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 \frac{1}{2} \mathcal{V}_a^T \mathcal{G}_a \mathcal{G}_a} should be replaced by 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 \frac{1}{2} \mathcal{V}_a^T \mathcal{G}_a \mathcal{V}_a} .

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).

Appendix B

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