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This page contains information about errata for A Mathematical Introduction to Robotic Manipulation. The errata listed here include known and corrected errors since the second edition of the book; clicking on the link will take you to a page with additional details. See below for information on errata from the first edition. Typos and other relatively minor corrections are listed here but do not have separate pages with additional details (they also do not appear on individual chapter pages).


  • Each line of text and each line of a displayed equation are counted as a line. Negative line numbers mean number of lines from the bottom of the page. First line on page = 1, last line on page = -1.
  • Entries in boldface indicate errors which might change significantly the interpretation of the text.
  • The version refers to the release number in which the error was found. Errors are corrected in all subsequent releases of the text.

Second edition

The second edition of A Mathematical Introduction to Robotic Manipulation is currently under development and being updated on a continuing basis. If you find an error in the online copy of the text, please check the latest version of the material before submitting a bug report.

Page Line Erratum Version
176   -5   Subscripts are unreadable in equation (4.30) in the online version of the first edition 1

First edition

The following errata for the first edition are available: