# Difference between revisions of "Errata: Subscripts are unreadable in equation (4.30) in the online version of the first edition"

From MLSwiki

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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

\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>

}}