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Hello everyone,

I was wanting to let you know about some errata and small changes in regards to lecture notes and exercises.

Lecture notes:

• p 4-63: Order of arguments atan2 function
• p 7-62 eq. 7.55 and 7.56: l/3 changed to 1/3
• p 8-7: Sign of coefficient a3

Exercises:

• In exercise 13.2, coordinate frames of the manipulator have been rotated.

The corresponding files have been updated.

Moreover, I received questions about how to rotate the inertia tensor. I uploaded a short derivation in the tutorial section on the material page.

Cheers,

Tobias