Difference between revisions of "Errata: Subscripts are unreadable in equation (4.30) in the online version of the first edition"
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| − | {{errata | + | {{errata page |
| + | | chapter = Robot Dynamics and Control | ||
| + | | page = 176 | ||
| + | | line = -5 | ||
| + | | contributor = D. de Giulii | ||
| + | | date = 16 Aug 09 | ||
| + | | rev = 1 | ||
| + | | version = First edition | ||
| + | | text = | ||
| + | The text for the online version of the first edition has some errors in the fonts in equation (4.30). The correct equation is | ||
| + | <center><amsmath> | ||
| + | \frac{\partial M_{ij}}{\partial \theta_k} = | ||
| + | \sum_{l=\max(i,j)}^n | ||
| + | \Bigl( | ||
| + | [A_{ki} \xi_i, \xi_k]^T A_{lk}^T {\cal M}_l' A_{lj} \xi_j | ||
| + | + \xi_i^T A_{li}^T {\cal M}_l' A_{lk} [A_{kj} \xi_j, \xi_k] | ||
| + | \Bigr). | ||
| + | </amsmath></center> | ||
| + | }} | ||
Latest revision as of 20:55, 16 August 2009
| Return to Errata page |
Location: page 176, line -5
The text for the online version of the first edition has some errors in the fonts in equation (4.30). The correct equation is
\frac{\partial M_{ij
(Contributed by D. de Giulii, 16 Aug 09)
{\partial \theta_k} =
\sum_{l=\max(i,j)}^n
\Bigl(
[A_{ki} \xi_i, \xi_k]^T A_{lk}^T {\cal M}_l' A_{lj} \xi_j
+ \xi_i^T A_{li}^T {\cal M}_l' A_{lk} [A_{kj} \xi_j, \xi_k]
\Bigr).
</amsmath>}}
