13 views

Uploaded by Manar Hosny

- 5 Minute Adding Frenzy
- Math Mode
- Pile soil interaction
- MatLab Basics
- Friendly Error Log v2 by Saruba
- Algebra
- Zoho questions.pdf
- Cuesta - Activity 1
- Mathematics 2009 Unsolved Paper Outside Delhi.pdf
- HW_3Econ705
- ProblemSet-03_09_2011
- Scilab for very beginners (from official page)
- IJEAS0211015
- test1efall07
- IMC2003-1
- Assignment 1 # Regarding R
- Calculus and linear algebra model test
- Matlab Course Math292 Math391
- syllabus_BScBiotechnology
- WOT8

You are on page 1of 5

Mark W. Spong, Seth Hutchinson, M. Vidyasagar John Wiley & Sons, Inc. 2006

Errata

Chapter 1

Page 29: In the caption for Figure 1.25, change Problem 1-15 to Problem 1-13.

Chapter 2

Bottom of page 43: the vectors x1 , x2 , and x3 should be x0 , x0 , and x0 , respectively. 1 2 3 Page 49: In the paragraph immediately before Example 2.5, change We rst rotate the frame o2 x2 y2 z2 to We rst rotate the frame o1 x1 y1 z1 Page 50: In Equation (2.18) the (1,2) element of the matrix Rz, should be s .

0 Equation (2.67), page 62: The (3,2) element of the matrix H1 should be sz .

Chapter 3

First line in page 86: . . . could just as well be placed at joint 2, should read . . . could just as well be placed at joint 1. Page 87: The (3, 2) element of the matrix A5 should be +1. Page 91: In the expression for r11 , the term d2 should be s1 . Page 92: In Figure 3.11, the placement of the base frame as shown will result in a nonzero value of d1 . One may either move the origin of the base frame such that d1 is zero, or modify 0 Table 3.5 and the subsequent matrices A1 and T4 to include a nonzero d1 .

1 0 Page 109: Equation (3.70), T4 should be T4 .

1 c2 should be

1 c2 . 2

Chapter 4

Page 130: Equation (4.46), the summation

n i1

should be

n i=1 .

Page 135: In the second sentence, the reference to Equation (4.62) should be Equation (4.63). Page 140: In the sentence before Equation (4.85), R = Rz, Ry, Rz, should be R = Rz, Ry, Rz, . Page 143: In the second line after Equation (4.90), that the all possible should be that all possible. Page 144: In the middle of the rst paragraph, 4 should be 5 . Page 144: In Equation (4.99) the sign of the determinant should be switched. Page 153: In Equation (4.121), T (JJ T )1 T should be T (JJ T )1 . Page 154: After Equation (4.124), 1 2 m should be 1 2 m . Page 158: In problem 4-7, =

2

should be = . 2

Page 159: In problem 4-10, the word acts should be facts. Page 159: In problem 4-13, R = Rz, Ry, Rz, should be R = Rz, Ry, Rz, .

Chapter 5

Page 170: In Equation (5.2), should be i . Page 175: After Equation (5.8), inlcudes should be includes. Page 177: In the rst equation, the term (ax sin ay cos ) should be (ax sin + ay cos ). Page 178: In Example 5.7, the word repuslive should be repulsive. Page 187: In the next-to-last paragraph, near by should be nearby. Page 197: In Equation (5.28), q(t0 ) should be q(t).

Chapter 7

In Figure 7.2, the motor inertia should be labeled Jm and the link inertia should be labeled J. Page 255: In equation (7.53) add the term Page 257: In Equation (7.64) change

dkj qj 1 2

dkj qi

to 2

Page 262: In the matrix in Equation (7.90) the (1,1) term should be Page 265: The rst vector in Equation (7.99) should be

2 cos q2 2 sin q2

1 sin p1 .

i+1 i+1 i Page 276: In Figure 7.12, the term Ri i should be Ri+1 i+1 and the term Ri fi+1 i should be Ri+1 fi+1 .

Page 277: In Equations (7.145) and (7.147), the term i should be I i . Page 277: In the fourth line in the paragraph after Equation (7.147), joint s should be joints.

i1 i Page 278: In Equation (7.153), Ri1 should be Ri .

(0) (0) (0)

ri,ci + i

(0)

(0)

(i

(0)

ri,ci )

(0)

Page 279: In the second-to-last paragraph the reference to Figure 7.9 should be to Figure 7.8. Page 279: In Equation (7.162), 2 = (q1 + q2 )k should be 2 = (q1 + q2 )k Page 280: In Equations (7.163) and (7.164) the terms ( ( 1 c1 ) and ( 2 c2 ), respectively.

1

c1 )

and (

c2 )

should be

2 1 Page 280: In Equation (7.168), the term c,2 should be ac,2 and R1 should be R2 . 2 1 Page 281: In Equation (7.169), R1 should be R2 and sin q2 should be sin q2 .

Page 281: The vector in Equation (7.171) should have a third element equal to 0.

2 1 Page 282: All occurrences of R1 should be changed to R2 .

Chapter 9

Page 330: In Equation (9.21), Kd +F should be Kd x + F . Page 332: In Equation (9.27),

1 mc

should be

1 Mc .

Chapter 10

Page 341: In Denition 10.1, change f : M Tx M to f : M T M and change f1 (x) . . f (x) = . fm (x) to f1 (x) . Tx M for all x M . f (x) = . fm (x)

Page 341: In Denition 10.2 change Tx M to T M .

Page 343: In Example 10.2, the third element of the vector f (x) should be changed to x1 +x2 . 3 Page 352: Equation (10.49) should be Ladk (g)T1 = 0 k = 0, 1, . . . , n 2

f

f

Page 353: In Equation (10.56) L should be changed to . Page 354: In Equation (10.57), L should be changed to . Page 354: In Equation (10.62), the left side of the last two terms should be changed to Lad2 (g)T1 and Lad3 (g)T1 , respectively.

f f

Pages 355 and 356: All occurrences of M gL should be changed to M g . Page 359: In Equation (10.83) change x1 and x3 to x1 and x3 , respectively. Page 359: In Equation (10.86), change T1 (x1 ) to T1 (x) in the rst equation. Page 362: Remove the semicolon in Equation (10.100). Page 367: After Equation (10.113), change g2 it follows to g2 . It follows. Page 368: In the third sentence of Denition 10.11, change is an involutive distribution such that to is an involutive distribution containing such that Page 375: In Problem 10-21 change rank 3 to rank 2. 4

Chapter 11

Page 387: In the second paragraph, change Likewise, if half or the pixels to Likewise, if half of the pixels.

Chapter 12

Page 426: In the rst row vector in Equation (12.21), change the rst term Lvz to Lvx .

Appendix A

Page 436: In the Law of Cosines, change ab2 to b2 .

Appendix D

Page 452: In Equation (D.7), change xi xi to xi xj .

- 5 Minute Adding FrenzyUploaded byAliceChang
- Math ModeUploaded byPetra Rozehnalová
- Pile soil interactionUploaded bychinnaiitm
- MatLab BasicsUploaded byMuhammad Abdullah
- Friendly Error Log v2 by SarubaUploaded bystr1der
- AlgebraUploaded byAnonymous E7JynRcI5N
- Zoho questions.pdfUploaded byDinagar Rengasamy
- Cuesta - Activity 1Uploaded byAlwyn Wren Cuesta
- Mathematics 2009 Unsolved Paper Outside Delhi.pdfUploaded byroxtr
- HW_3Econ705Uploaded bytualtuang
- ProblemSet-03_09_2011Uploaded byFlyingAnt
- Scilab for very beginners (from official page)Uploaded bykohlbeci
- IJEAS0211015Uploaded byerpublication
- test1efall07Uploaded byGobara Dhan
- IMC2003-1Uploaded byArief Cahyadi
- Assignment 1 # Regarding RUploaded byMUHAMMAD DANISH BASHIR
- Calculus and linear algebra model testUploaded byRahul Kumble
- Matlab Course Math292 Math391Uploaded byHussein Dhaini
- syllabus_BScBiotechnologyUploaded byLami Qays
- WOT8Uploaded byTasha Metselaar
- 01 Interface, Arrays and Matrix OperationsUploaded byModick Basnet
- ALAMOUTI.pdfUploaded byBhagya Shree
- Thomas MethodUploaded byvimaba
- 2.6AUploaded bymcd2dst
- How to Multiply MatricesUploaded bycontactrn
- hw2-solUploaded byMike Hua
- 628Uploaded byनवीन कुमार
- Keccak-reference-3.0.pdfUploaded byaymencf
- 17matdip41Uploaded bySushma greeshma
- Cooperative Communication With Partial Channel-state Information in MultiuserUploaded byarmandocastro01

- Hult Prize 2019 ChallengeUploaded byManar Hosny
- (12)Design and Development of s.c.c.r and CoolerUploaded byManar Hosny
- 32596Uploaded byManar Hosny
- 2 Four Post TutorialUploaded byManar Hosny
- signals and systemsUploaded byJeevith Jeevi
- 808M Introduction to Robot ModelingUploaded byManar Hosny
- 1_vibr_gs_intro.pdfUploaded byManar Hosny
- Getting Started Using ADAMS ControlsUploaded byKajal Agrawal
- Circuits Lec07Uploaded byManar Hosny
- 5. 23-28Uploaded byManar Hosny
- Continuous.and.Discrete.time.Signals.and.Systems.(Mandal.&.Asif).Solutions.chap13Uploaded byRicardo Gálmez
- Chapter 6Uploaded byManar Hosny
- ch_18_sect_2_selfquiz.pdfUploaded byManar Hosny
- 18039851.pdfUploaded byManar Hosny
- homework2.pdfUploaded byManar Hosny
- handout2_Kinematics-1.pdfUploaded byManar Hosny
- ErrataUploaded byManar Hosny
- errata.pdfUploaded byManar Hosny
- 4547082.pptUploaded byManar Hosny
- solutionsmanual-150522013626-lva1-app6891.pdfUploaded byManar Hosny
- 4_5870766809510053045Uploaded byManar Hosny
- 10 EconomicsUploaded bymoxlinde
- 525-1437-1-PBUploaded byManar Hosny
- 04_Closed-Loop_Inverse_Kinematics_Schemes_for_Constrained_Redundant_Manipulators_with_Task_Space_Argumentation_and_Task_Priority_Strategy.pdfUploaded byManar Hosny
- Bee 1l1(Bee & Bec) Lab ManualUploaded bySanoj Suresh
- Autonomous Wheelchair Concept and ExplorationUploaded byManar Hosny
- 13-controlflow.pptUploaded byManar Hosny
- Circuit Symmetry.pdfUploaded byMakilosa
- mcq bank computer.pdfUploaded byEjazAhmad
- Rio 2016 Boxing Results Book V1.0Uploaded byManar Hosny

- WF-R1061Uploaded byLuci Patrascu
- HNR BIO Chapter 02 Practice TestUploaded byRedmondWA
- Anisotropic MediaUploaded byMandeep Singh
- molecules-13-00804Uploaded byMahnaz Afshari
- E-hole Pair GbhieherationUploaded byTushar Dhabal Das
- On Paratacamite and Some Related Copper ChloridesUploaded byHJKB1975
- HKPO07_Sol.pdfUploaded bylagostinha
- 37151512 Network Analysis by Van Valkenburg Solution CHAP 6Uploaded byYoga Rasiah
- 40.15-04-2017 J(A) SCORE -2 PAPER 1.pdfUploaded byPraveen Kumarpillai
- 1MRG014322 en Differential Protection for Shunt Reactors and Power Transformers - Similarities and DifferencesUploaded byemy1188
- la preuve de thomsonUploaded byChadiChahid
- HT_FEEUploaded byAkhilesh Panwar
- Linear Elastic Stress AnalysisUploaded byUr Friend
- CT4145 CT2031 Mechanics of Structures Module Introduction Into Continuum MechanicsUploaded byMarco
- Beams on Elastic FoundationUploaded byIngeniero Estructural
- Analytical and Experimental Characterization of Parasitic MotionUploaded byAlejandro Gaston
- 248Uploaded byefremofe
- Proper Lubrication is Essential to Successful Performance oUploaded byWESSAMSUCO
- Nano KatalisUploaded byprana mahisa
- Chap14_Sec2 partial derivativesUploaded byCravoc001
- ch08Uploaded byNesya Janesya
- Syllabus Topics AS-A2.pdfUploaded byHadi Hassan
- lec2Uploaded byPramod Mishra
- InductorsUploaded byKhealMaeL.Enagordaf
- EMD_RUploaded byjuannepomuseno
- +++++++++Wind Tunnel Airfoil Measurements wingUploaded byumunera2997
- Oxidative Desulfurization and Denitrogenation of a Light Gas Oil Using an Oxidation Adsorption Continuous Flow ProcessUploaded byMohamadMostafavi
- AWS HandbookUploaded bydaiweing
- words2Uploaded byDina Cojocaru
- Sound and Hearing (Chapter 16)Uploaded byRobert Tawanda Mutasa