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 page
 
{{errata page
| chapter =  
+
| chapter = Robot Dynamics and Control
| page =  
+
| page = 176
| line =  
+
| line = -5
| contributor =  
+
| contributor = D. de Giulii
| date =  
+
| date = 16 Aug 09
 
| rev = 1
 
| rev = 1
 
| version = First edition
 
| version = First edition
 
| text =  
 
| 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

<amsmath>

\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>

}}