Inverse Dynamics Control in Robotics Applications

Inverse Dynamics Control in Robotics Applications Krzysztof P. Jankowski, Trafford Publishing, 2004

Errata† (June 2005) Chapter 3 p. 25, second line from bottom of page: Replace “the last m of the elements of w” with “the last m of the elements of ǫ”. p. 29, In Eq.(3.34), replace D with B to have δ

(h−1)

w = Bδǫ .

(3.34)

p. 29, In Eq.(3.35), replace BD with DB to have (h)

δ q = DBδǫ .

(3.35)

p. 30, last line before Eq.(3.46): Replace reference call [7] with reference call [143]. Chapter 4 p. 43, last line of Eq.(4.6): Replace si (w, q, t) in its last occurrence with s2i (w, q, t) to have µ ¶T µ ¶T ∂ri ∂ri r¨i = Dw˙ + si (w, q, t) = DBǫ + s2i (w, q, t) . ∂q ∂q p. 49, Eq.(4.42): Change signs of “−G0 ” and “−H0 ” to have “G0 ” and “H0 ”. p. 49, Eq.(4.43): Change signs of “−G0 ” and “−H0 ” to have “G0 ” and “H0 ”. p. 50, Eq.(4.45): Change signs of “−G0 ” and “−H0 ” to have “G0 ” and “H0 ”. p. 52, Eq.(4.56): Change signs of “−G0 ” and “−H0 ” to have “G0 ” and “H0 ”. p. 53, Eq.(4.63): Change signs of “−G0 ” and “−H0 ” to have “G0 ” and “H0 ”. Chapter 5 p. 67, fourth line of second paragraph: Replace reference call [110] with [111]. Chapter 8 p. 123, Eq.(8.35): Add power 2 to the denominator to have · T ¸ · £ ¤ HG1 (1 + cos2 α)/ sin2 α ψ = HG1 HG2 = T HG2 cot α

cot α 1

¸

.

(8.35)

Chapter 11 p. 176, second line above Eq.(11.3): Replace “presented elsewhere8 ” with “presented elsewhere [129]”. p. 186, first line below Eq.(11.58): Replace “Eqs.(1113)” with “Eqs.(11.13)”. †

Noted by prof. Krzysztof KozÃlowski from Pozna´ n University of Technology.