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.)

Errata below are for the preprint version posted on May 3, 2017. Thanks to everyone who provided corrections to the previous version!

Significant corrections

Chapter 5

• Equation (5.7): The second term on the right-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 J_{s2}(\theta) \dot{\theta}_2} .

Chapter 6

• Chapter 6.3, first line after Eq (6.7): the matrices 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 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 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 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} .

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 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} (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.