Mechanism and Machine Theory 35 (2000) V

www.elsevier.com/locate/mechmt

Erratum

Erratum to ``A Newton Ð Euler formulation for the

inverse dynamics of the Stewart platform manipulator''
[Mechanism and Machine Theory 33 (8) 1135±1152]
p

Bhaskar Dasgupta*, T.S. Mruthyunjaya

Department of Mechanical Engineering, Indian Institute of Science, Bangalore -560 012, India

The publisher regrets that when the above article was printed, there were errors in the text. Before
Equation (13) should read:
accelerations
and the Appendix should read:
Moments of inertia of lower and upper parts of each leg (in local frames):
2 3 2 3
0:010 0:005 0:007 0:005 0:002 0:002
Id0 4 0:005 0:002 0:003 5 and Iu0 ˆ 4 0:002 0:002 0:001 5:
0:007 0:003 0:001 0:002 0:001 0:003

p
PII of original article: S0094-114X(97)00118-3
* Corresponding author.

0094-114X/00/$ - see front matter # 1999 Published by Elsevier Science Ltd. All rights reserved.
PII: S 0 0 9 4 - 1 1 4 X ( 9 9 ) 0 0 0 6 5 - 8