Table 7.2, page 275. The description for joint angle uses incorrect z axis indexing. "The angle between the x_j and x_{j+1} axes about the **z_{j-1}** axis" I believe it should be: "The angle between the x_j and x_{j+1} axes about the **z_j** axis"
Table 7.2, page 275. The description for joint angle uses incorrect z axis indexing.
"The angle between the x_j and x_{j+1} axes about the z_{j-1} axis"
I believe it should be:
"The angle between the x_j and x_{j+1} axes about the z_j axis"