errata.ps

关于旋量理论的Matlab描述和相应的源码实例

(will)i(probably)f(c)o(hange)f(in)h(the)114 215 y(next)c(edition)h(of)f
(the)g(b)q(o)q(ok)h(to)e(indicate)j(this)f(explicitly)l(.)68
309 y Fo(\017)23 b Fm(P)o(age)15 b(195,)i(line)g(15.)i
Fq(\(J.)14 b(W)l(endlandt,)h(10/18/94\))c(The)j(term)1263
291 y Fj(1)p 1263 298 18 2 v 1263 325 a(2)1308 297 y
Fq(_)1286 309 y Fn(M)19 b Fq(in)14 b(the)g(last)g(line)i(of)d(the)h(m)o
(ultiline)114 371 y(equation)h(should)h(b)q(e)527 359
y(_)505 371 y Fn(M)f Fo(\000)c Fn(C)s Fq(.)68 464 y Fo(\017)23
b Fq(P)o(age)14 b(207,)g(line)j(-15.)i(\(W.)c(W)l(ra)o(y)l(,)f
(1/12/95\))f(The)i(phrase)g(`of)g(the')g(is)g(rep)q(eated.)68
558 y Fo(\017)23 b Fq(P)o(age)14 b(231,)g(line)j(-11.)i(\(R.)c(Mason,)f
(3/10/95\))f(\\the)i(these)h(b)q(ounds")g(should)g(b)q(e)g(\\these)f(b)
q(ounds".)68 652 y Fo(\017)23 b Fq(P)o(age)14 b(237,)g(line)j(16.)i
(\(R.)c(Mason,)f(3/13/95\))f(The)j(w)o(ord)e(\\restatmen)o(t")f(should)
k(b)q(e)e(\\restatemen)o(t".)68 746 y Fo(\017)23 b Fq(P)o(age)17
b(258,)h(line)i(8.)28 b(\(RMM/SSS,)18 b(2/27/94\))e(The)i(follo)o(wing)
h(pap)q(er)g(should)g(b)q(e)g(cited)g(as)f(one)g(of)g(the)114
802 y(references)d(on)h(kinematics)g(of)f(rolling)h(con)o(tact:)214
896 y(A.)g(Cole,)h(J.)g(Hauser,)g(S.)f(S.)h(Sastry)l(.)32
b(Kinematics)18 b(and)f(Con)o(trol)f(of)g(Multi\014ngered)j(Hands)214
952 y(with)h(Rolling)h(Con)o(tact,)33 b Fg(IEEE)20 b(T)m(r)n
(ansactions)e(on)i(A)o(utomatic)h(Contr)n(ol)p Fq(,)f(34\(4\):398-404)o
(,)214 1009 y(1989.)68 1103 y Fo(\017)j Fq(P)o(age)14
b(269,)g(line)j(-1.)j(\(J.)14 b(C.)h(K.)g(Chan,)g(3/27/97\))e(The)i
(term)g Fn(AM)1280 1086 y Fi(\000)p Fj(1)1327 1103 y
Fn(A)h Fq(should)g(b)q(e)g Fn(AM)1666 1086 y Fi(\000)p
Fj(1)1713 1103 y Fn(A)1747 1086 y Fl(T)1775 1103 y Fq(.)68
1197 y Fo(\017)23 b Fm(P)o(age)16 b(296,)g(line)h(-6.)j
Fq(\(W.)13 b(K.)h(F)l(ung,)g(12/29/94\))e(The)i(coupling)i(matrix)d
(has)h(an)g(extra)g(factor)f(of)g(2)h(in)114 1253 y(the)h(\(1,1\))f(en)
o(try)g(and)i(the)f(second)h(ro)o(w)e(is)i(incorrect.)k(The)15
b(correct)g(coupling)i(matrix)e(is:)385 1388 y Fn(P)6
b Fq(\()p Fn(\022)q Fq(\))13 b(=)544 1357 y Fn(@)s(h)p
544 1377 53 2 v 546 1419 a(@)s(\022)602 1339 y Fl(T)642
1388 y Fq(=)690 1316 y Fk(")714 1361 y Fo(\000)749 1322
y(p)p 788 1322 139 2 v 788 1361 a Fn(a)812 1348 y Fj(2)842
1361 y Fq(+)d Fn(b)907 1348 y Fj(2)934 1361 y Fq(sin)q(\(tan)1073
1344 y Fi(\000)p Fj(1)1128 1326 y Fk(\000)1152 1343 y
Fl(a)p 1152 1350 19 2 v 1154 1376 a(b)1175 1326 y Fk(\001)1205
1361 y Fq(+)1255 1342 y Fl(\022)1271 1347 y Ff(1)p 1255
1350 34 2 v 1263 1376 a Fj(2)1294 1361 y Fq(\))41 b Fo(\000)p
Fn(R)1423 1368 y Fj(1)1484 1361 y Fn(R)1519 1368 y Fj(1)1580
1361 y Fn(R)1615 1368 y Fj(1)968 1417 y Fo(\000)p Fn(R)1038
1424 y Fj(2)1386 1417 y Fq(0)91 b(0)57 b Fn(R)1615 1424
y Fj(2)1634 1316 y Fk(#)1666 1388 y Fn(:)68 1541 y Fo(\017)23
b Fm(P)o(age)17 b(327,)g(line)i(11.)h Fq(\(W.)14 b(W)l(ra)o(y)l(,)g
(1/16/95\))f Fn(T)985 1525 y Fi(\003)979 1553 y Fl(q)1005
1541 y Fe(R)c Fq(should)17 b(b)q(e)f Fn(T)1292 1525 y
Fi(\003)1286 1553 y Fl(q)1311 1541 y Fe(R)1347 1525 y
Fl(n)1367 1541 y Fq(.)68 1635 y Fo(\017)23 b Fq(P)o(age)11
b(345,)g(line)i(-7.)19 b(\(W.)11 b(W)l(ra)o(y)l(,)g(1/16/95\))f(Extra)g
(brac)o(k)o(et)i(in)g(the)g([)p Fn(g)1312 1642 y Fj(2)1331
1635 y Fn(;)c(g)1374 1642 y Fj(3)1393 1635 y Fq(])j(term)g(in)i(displa)
o(y)o(ed)g(equation.)68 1729 y Fo(\017)23 b Fq(P)o(age)10
b(382,)g(line)j(4.)18 b(\(W.)10 b(Go)q(o)q(dwine,)i(8/21/96\))c(Change)
j(\\pap)q(er)g(of)g(La\013erriere)g(and)g(Sussmann)g(in)h([62]")114
1785 y(to)i(\\pap)q(er)i(of)e(La\013erriere)i(and)f(Sussmann)h([55]".)
68 1879 y Fo(\017)23 b Fq(P)o(age)14 b(401,)g(line)j(-7.)j(\(R.)15
b(Mason,)f(3/13/95\))f(The)i(w)o(ord)f(\\oragami")g(should)j(b)q(e)e
(\\origami".)68 1973 y Fo(\017)23 b Fq(P)o(age)14 b(406,)g(line)j(4.)i
(\(R.)c(Mason,)f(10/28/94\))f Fn(T)6 b(M)20 b Fq(should)c(b)q(e)g
Fn(T)1249 1957 y Fi(\003)1269 1973 y Fn(M)5 b Fq(.)68
2067 y Fo(\017)23 b Fq(P)o(age)14 b(432,)g(line)j(-14.)i(\(W.)c(W)l(ra)
o(y)l(,)f(1/12/95\))f(The)i(w)o(ord)g('seqmen)o(t')f(should)i(b)q(e)g
('segmen)o(t'.)68 2161 y Fo(\017)23 b Fq(P)o(age)14 b(442,)g(line)j(14)
e(\(R.)f(Mason,)h(6)f(No)o(v)h(95\).)k(\\Managmen)o(t")14
b(should)i(b)q(e)g(\\Managemen)o(t".)68 2254 y Fo(\017)23
b Fq(P)o(age)15 b(443,)g(line)j(-18.)k(The)17 b(order)e(of)h(the)g
(authors)g(for)f(reference)i([43])e(should)i(b)q(e)g(V)l(enk)m
(ataraman)f(and)114 2311 y(Ib)q(erall.)962 2795 y(ii)p
eop
%%Page: 3 3
3 2 bop 0 46 a Fp(Changes)19 b(to)g(\014rst)f(prin)n(ting)h(\(Mar)g
(1994\))0 131 y Fq(The)11 b(follo)o(wing)g(corrections)g(apply)g(to)f
(the)g(\014rst)g(prin)o(ting)i(only;)g(all)f(of)f(these)h(c)o(hanges)g
(ha)o(v)o(e)f(b)q(een)h(implemen)o(ted)0 188 y(in)16
b(the)f(second)h(prin)o(ting)g(of)f(the)g(b)q(o)q(ok)h(\(Dec)f(1994\).)
68 286 y Fo(\017)23 b Fq(F)l(ron)o(t)15 b(co)o(v)o(er.)23
b(\(RMM/SSS,)16 b(2/94\))f(The)h(\014gure)h(on)f(the)g(fron)o(t)g(co)o
(v)o(er)f(is)i(courtesy)f(of)g(John)h(Hauser)g(at)114
342 y(the)e(Univ)o(ersit)o(y)h(of)f(Colorado,)f(Boulder.)68
433 y Fo(\017)23 b Fq(Title)12 b(page.)19 b(\(RMM,)11
b(3/18/94\))e(In)k(some)e(v)o(ersions)h(of)g(the)f(b)q(o)q(ok)h(the)g
(middle)i(initial)g(of)d(the)h(\014rst)g(author)114 490
y(is)j(incorrect)h(on)f(the)g(title)h(page.)j(The)d(correct)e(middle)j
(initial)h(for)c(R.)h(Murra)o(y)f(is)i(`M')e(\(as)g(in)i(Martin\).)114
546 y(The)f(initial)i(app)q(ears)f(correctly)f(on)g(the)g(co)o(v)o(er)g
(and)g(the)h(v)o(erso.)68 637 y Fo(\017)23 b Fq(P)o(age)14
b(xviii,)j(line)g(24.)i(\(M.)14 b(Sp)q(ong,)h(4/13/94\))e(\\greatful")i
(should)h(b)q(e)g(\\grateful".)68 728 y Fo(\017)23 b
Fq(P)o(age)e(44,)h(\014gure.)40 b(\(S.)21 b(Laubac)o(h,)j(5/11/94\))19
b(The)j(orien)o(tation)g(of)f(the)h Fn(B)j Fq(frame)c(in)i(Figure)f
(2.6)e(is)114 785 y(misleading.)h(The)15 b(axes)f(of)g(the)g(co)q
(ordinate)h(frame)f(should)i(b)q(e)f(aligned)g(with)g(those)f(of)g
Fn(A)h Fq(when)g Fn(\013)e Fq(=)g(0.)68 876 y Fo(\017)23
b Fq(P)o(age)14 b(45,)g(line)j(-11.)j(\(S.)14 b(Laubac)o(h,)i(5/9/94\))
d(\\screws)i(motions")f(shoudl)j(b)q(e)e(\\screw)g(motions".)68
967 y Fo(\017)23 b Fq(P)o(age)14 b(81,)g(line)j(-3.)j(\(S.)15
b(Laubac)o(h,)g(5/9/94\))e(\\join)o(t")i(is)g(rep)q(eated.)68
1058 y Fo(\017)23 b Fq(P)o(age)14 b(128,)g(line)j(-4.)j(\(S.)14
b(Laubac)o(h,)i(5/9/94\))d(\\pro)q(ducted")i(should)i(b)q(e)e(\\pro)q
(duced".)68 1149 y Fo(\017)23 b Fm(P)o(age)16 b(137,)h(line)h(8.)i
Fq(\(M.)14 b(Milam,)h(2/4/94\))e(The)i(displa)o(y)o(ed)h(equation)f
(has)f(a)h(n)o(um)o(b)q(er)g(of)f(t)o(yp)q(os.)20 b(The)114
1205 y(correct)14 b(equation)i(should)g(b)q(e)346 1295
y Fo(\000)p Fn(r)11 b Fo(\000)g Fn(l)473 1302 y Fj(1)500
1295 y Fq(sin)d Fn(\022)584 1302 y Fj(11)632 1295 y Fq(+)i
Fn(r)e Fq(cos\()p Fn(\022)806 1302 y Fj(11)854 1295 y
Fq(+)i Fn(\022)920 1302 y Fj(12)958 1295 y Fq(\))i(=)17
b Fn(x)c Fq(=)f Fn(r)f Fo(\000)g Fn(l)1218 1302 y Fj(2)1245
1295 y Fq(sin)d Fn(\022)1329 1302 y Fj(21)1377 1295 y
Fo(\000)i Fn(r)f Fq(cos\()p Fn(\022)1552 1302 y Fj(21)1599
1295 y Fq(+)h Fn(\022)1665 1302 y Fj(22)1703 1295 y Fq(\))459
1364 y Fn(l)473 1371 y Fj(1)500 1364 y Fq(cos)d Fn(\022)589
1371 y Fj(11)637 1364 y Fq(+)j Fn(r)f Fq(sin\()p Fn(\022)806
1371 y Fj(11)854 1364 y Fq(+)h Fn(\022)920 1371 y Fj(12)958
1364 y Fq(\))i(=)19 b Fn(y)c Fq(=)d Fn(h)f Fq(+)f Fn(l)1222
1371 y Fj(2)1249 1364 y Fq(cos)e Fn(\022)1339 1371 y
Fj(21)1386 1364 y Fo(\000)j Fn(r)d Fq(sin)q(\()p Fn(\022)1556
1371 y Fj(21)1603 1364 y Fq(+)j Fn(\022)1670 1371 y Fj(22)1708
1364 y Fq(\))803 1433 y Fn(\022)824 1440 y Fj(11)872
1433 y Fq(+)f Fn(\022)938 1440 y Fj(12)988 1433 y Fq(=)16
b Fn(\036)d Fq(=)f Fn(\022)1147 1440 y Fj(21)1195 1433
y Fq(+)f Fn(\022)1262 1440 y Fj(22)68 1542 y Fo(\017)23
b Fm(P)o(age)16 b(137,)g(line)h(-10.)j Fq(\(RMM,)13 b(2/6/94\))f(The)i
(\(2,2\))f(term)g(in)i(the)f(matrix)g(on)g(the)g(righ)o(t)g(hand)g
(side)h(of)114 1599 y(the)g(equals)h(sign)f(should)i(b)q(e)f
Fo(\000)p Fn(r)11 b Fq(+)f Fn(l)756 1606 y Fj(2)783 1599
y Fq(sin)e Fn(\022)867 1606 y Fj(21)905 1599 y Fq(.)68
1690 y Fo(\017)23 b Fq(P)o(age)14 b(159,)g(line)j(2.)i(\(L.)c(Cra)o
(wford,)f(7/26/94\))f(The)i(angle)h Fn( )g Fq(should)g(b)q(e)g
Fn(\036)f Fq(in)h(the)g(caption.)68 1781 y Fo(\017)23
b Fm(P)o(age)d(160,)g(line)i(-10.)27 b Fq(\(H.)17 b(Choi,)h(4/9/94\))e
(There)i(are)f(errors)g(in)h(the)g(sin)1485 1764 y Fj(2)1512
1781 y Fn(\022)h Fq(terms)e(in)1748 1763 y Fl(d)p 1741
1770 31 2 v 1741 1796 a(dt)1782 1763 y(@)r(L)p 1782 1770
45 2 v 1784 1803 a(@)1813 1794 y Fj(_)1805 1803 y Fl(\036)1832
1781 y Fq(.)27 b(The)114 1845 y(correct)14 b(expression)i(should)h
(read:)453 1927 y Fn(d)p 445 1947 41 2 v 445 1989 a(dt)495
1927 y(@)s(L)p 495 1947 58 2 v 497 1994 a(@)534 1982
y Fq(_)524 1994 y Fn(\036)570 1958 y Fq(=)631 1927 y
Fn(d)p 623 1947 41 2 v 623 1989 a(dt)675 1911 y Fk(\020)700
1958 y Fn(ml)755 1939 y Fj(2)782 1958 y Fq(sin)838 1939
y Fj(2)865 1958 y Fn(\022)899 1946 y Fq(_)887 1958 y
Fn(\036)915 1911 y Fk(\021)952 1958 y Fq(=)c Fn(ml)1055
1939 y Fj(2)1082 1958 y Fq(sin)1138 1939 y Fj(2)1165
1958 y Fn(\022)1201 1946 y Fq(\177)1195 1958 y Fn(\036)d
Fq(+)h(2)p Fn(ml)1356 1939 y Fj(2)1382 1958 y Fq(sin)d
Fn(\022)i Fq(cos)d Fn(\022)1583 1946 y Fq(_)1574 1958
y Fn(\022)1608 1946 y Fq(_)1597 1958 y Fn(\036)68 2101
y Fo(\017)23 b Fq(P)o(age)18 b(160,)g(line)i(-7.)31 b(\(H.)18
b(Choi,)h(4/9/94\))e(The)i(sin)8 b Fn(\022)21 b Fq(term)d(in)h(the)g
(inertia)h(matrix)e(should)i(b)q(e)f(sin)1900 2083 y
Fj(2)1927 2101 y Fn(\022)114 2157 y Fq(\(this)c(is)h(a)f(prop)q
(ogation)f(of)h(an)g(error)g(from)f(the)i(previous)g(displa)o(y)o(ed)g
(equation\).)68 2248 y Fo(\017)23 b Fq(P)o(age)14 b(165,)g(line)j(6.)i
(\(R.)c(Behnk)o(en,)h(4/27/94\))d Fn(\014)k Fq(should)g(b)q(e)f
Fn(m)1221 2255 y Fj(2)1240 2248 y Fn(l)1254 2255 y Fj(1)1273
2248 y Fn(r)1294 2255 y Fj(2)1314 2248 y Fq(.)68 2339
y Fo(\017)23 b Fq(P)o(age)14 b(165,)g(line)j(10.)i(\(R.)c(Behnk)o(en,)h
(4/27/94\))d(Equation)i(\(4.11\))f(should)i(read)372
2393 y Fk(")397 2437 y Fn(\013)10 b Fq(+)g(2)p Fn(\014)r(c)552
2444 y Fj(2)613 2437 y Fn(\016)i Fq(+)f Fn(\014)r(c)739
2444 y Fj(2)412 2493 y Fn(\016)h Fq(+)e Fn(\014)r(c)537
2500 y Fj(2)675 2493 y Fn(\016)758 2393 y Fk(#)e(")818
2425 y Fq(\177)814 2437 y Fn(\022)835 2444 y Fj(1)818
2484 y Fq(\177)814 2496 y Fn(\022)835 2503 y Fj(2)855
2393 y Fk(#)882 2465 y Fq(+)920 2393 y Fk(")944 2437
y Fo(\000)p Fn(\014)r(s)1028 2444 y Fj(2)1057 2425 y
Fq(_)1049 2437 y Fn(\022)1070 2444 y Fj(2)1131 2437 y
Fo(\000)p Fn(\014)r(s)1215 2444 y Fj(2)1236 2437 y Fq(\()1262
2425 y(_)1254 2437 y Fn(\022)1275 2444 y Fj(1)1304 2437
y Fq(+)1359 2425 y(_)1350 2437 y Fn(\022)1371 2444 y
Fj(2)1391 2437 y Fq(\))962 2496 y Fn(\014)r(s)1011 2503
y Fj(2)1040 2484 y Fq(_)1031 2496 y Fn(\022)1052 2503
y Fj(1)1259 2496 y Fq(0)1409 2393 y Fk(#)f(")1473 2425
y Fq(_)1465 2437 y Fn(\022)1486 2444 y Fj(1)1473 2484
y Fq(_)1465 2496 y Fn(\022)1486 2503 y Fj(2)1506 2393
y Fk(#)1543 2465 y Fq(=)1591 2393 y Fk(")1615 2437 y
Fn(\034)1635 2444 y Fj(1)1615 2493 y Fn(\034)1635 2500
y Fj(2)1654 2393 y Fk(#)1686 2465 y Fn(:)114 2670 y Fq(\()p
Fn(\014)17 b Fq(should)f(b)q(e)g(replaced)g(with)g(2)p
Fn(\014)r Fq(\).)956 2795 y(iii)p eop
%%Page: 4 4
4 3 bop 68 46 a Fo(\017)23 b Fq(P)o(age)14 b(171,)g(line)j(-3.)j(\(S.)
14 b(Laubac)o(h,)i(5/9/94\))d(\\amoun)o(t")h(should)i(b)q(e)g(\\among")
68 139 y Fo(\017)23 b Fq(P)o(age)14 b(175,)g(line)j(12.)i(\(S.)c
(Laubac)o(h,)g(5/9/94\))e Fn(S)s(O)q Fq(\(3\))h(should)i(b)q(e)g
Fn(so)p Fq(\(3\).)68 233 y Fo(\017)23 b Fq(P)o(age)14
b(175,)g(line)j(-1.)j(\(S.)14 b(Laubac)o(h,)i(5/9/94\))d
Fn(S)s(E)s Fq(\(3\))g(should)j(b)q(e)g Fn(se)p Fq(\(3\).)68
327 y Fo(\017)23 b Fm(P)o(age)18 b(187,)h(line)h(-8.)k
Fq(\(R.)16 b(Behnk)o(en,)h(4/27/94\))d(In)j(the)f(v)o(ector)g(form)f
(of)1458 316 y(_)1446 327 y Fn(V)10 b Fq(,)16 b(a)g(transp)q(ose)g(is)h
(missing)114 384 y(from)d(the)h(leftmost)g(v)o(ector)g(and)g(the)g(b)q
(ottom)g(righ)o(t)g(en)o(try)f(of)h(the)g(matrix)g(should)i(b)q(e)e
Fn(B)e Fo(\000)e Fn(\017M)5 b Fq(.)68 477 y Fo(\017)23
b Fq(P)o(age)14 b(194,)g(line)j(17.)i(\(S.)c(Laubac)o(h,)g(5/9/94\))e
(\\in)o(v)m(arien)o(t")j(should)g(b)q(e)g(\\in)o(v)m(arian)o(t".)68
571 y Fo(\017)23 b Fm(P)o(age)18 b(195,)i(line)g(16.)k
Fq(\(F.)15 b(Bullo,)j(10/13/94\))c(\\negativ)o(e)j(semide\014nite")h
(should)g(b)q(e)f(\\negat