现代机器人学学习笔记与自测题集

作者: H.S.J 日期: 2025年6月2日 版本: 1.0

简介

本仓库包含了作者在学习 Kevin M. Lynch 和 Frank C. Park 所著的经典教材《Modern Robotics: Mechanics, Planning, and Control》（现代机器人学：力学、规划与控制）时整理的个人学习笔记和一套中英双语的自测题集。

这些资料旨在帮助学习者系统性地掌握现代机器人学的核心概念和方法。

内容

本仓库主要包含两份PDF文档：

1. mr-note-cn.pdf (Modern Robotics Study Notes)

   • 语言：中文
   • 内容：这份笔记详细记录了教材的核心内容，从机器人学的数学基础开始，依次涵盖了位形空间、刚体运动、正运动学、速度运动学与静力学、逆运动学、闭链运动学、开链动力学、轨迹生成、运动规划、机器人控制、抓取与操作以及移动机器人等主题。笔记结构清晰，重点突出，适合中文学习者参考和复习。

2. Modern Robotics Self-Assessment Collection.pdf

   • 语言：中英双语
   • 内容：这是一份按照教材章节顺序（1-13章）编写的自测题集，题目和部分说明为中英双语。包含了针对各章核心知识点的思考题和练习题，旨在检验学习者对概念的理解和应用能力。文档末尾附有大部分习题的参考答案（英文），方便学习者进行自我评估和校正。

教材与课程资源

所有笔记内容和习题均基于以下教材：

• 书名: Modern Robotics: Mechanics, Planning, and Control
• 作者: Kevin M. Lynch and Frank C. Park
• 出版社: Cambridge University Press
• 年份: 2019

同时，推荐参考该课程的官方网站获取更多学习资源：

• 课程网站: Modern Robotics at Northwestern University

如何使用

• 建议将 《现代机器人学笔记》 作为学习过程中的辅助材料，用于回顾和深化对课程内容的理解。
• 在学习完教材的每一章后，可以使用 《Modern Robotics Self-Assessment Collection》 中的对应章节习题进行自我测试，检验学习成果。

组织结构

两份文档均严格按照原教材的章节顺序进行组织，方便与教材同步学习和查阅。

致谢与声明

• 感谢 Kevin M. Lynch 和 Frank C. Park 两位教授编写出如此优秀的机器人学教材。
• 本笔记和题集为作者个人学习整理，仅供学习交流使用。虽然已尽力确保准确性，但疏漏之处在所难免。如有任何疑问或发现错误，建议以原版教材为准。

希望这些资料能对您的学习有所帮助！

Modern Robotics Study Notes and Self-Assessment Collection

Author: H.S.J Date: June 2, 2025 Version: 1.0

Introduction

This repository contains personal study notes and a bilingual (Chinese and English) self-assessment collection compiled by the author while studying the classic textbook "Modern Robotics: Mechanics, Planning, and Control" by Kevin M. Lynch and Frank C. Park.

These materials are intended to help learners systematically master the core concepts and methods of modern robotics.

Contents

This repository primarily contains two PDF documents:

1. mr-note-cn.pdf (Modern Robotics Study Notes)

   • Language: Chinese
   • Content: These notes detail the core content of the 13 chapters of the textbook, starting with the mathematical foundations of robotics, and covering configuration space, rigid-body motions, forward kinematics, velocity kinematics and statics, inverse kinematics, kinematics of closed chains, dynamics of open chains, trajectory generation, motion planning, robot control, grasping and manipulation, and wheeled mobile robots. The notes are well-structured with clear emphasis, suitable for Chinese-speaking learners for reference and review.

2. Modern Robotics Self-Assessment Collection.pdf

   • Language: Bilingual (Chinese and English for questions/descriptions, answers primarily in English)
   • Content: This is a self-assessment collection organized according to the textbook's chapter sequence (Chapters 1-13). It includes thought-provoking questions and exercises targeting the core concepts of each chapter, designed to test the learner's understanding and application abilities. Reference answers to most exercises are provided at the end of the document (in English) for self-evaluation and correction.

Textbook and Course Resources

All notes and exercises are based on the following textbook:

• Title: Modern Robotics: Mechanics, Planning, and Control
• Authors: Kevin M. Lynch and Frank C. Park
• Publisher: Cambridge University Press
• Year: 2019

For additional learning resources, the official course website is highly recommended:

• Course Website: Modern Robotics at Northwestern University

How to Use

• It is recommended to use the mr-note-cn.pdf (Modern Robotics Study Notes) as supplementary material during your study to review and deepen your understanding of the course content.
• After completing each chapter of the textbook, you can use the corresponding chapter exercises in the Modern Robotics Self-Assessment Collection.pdf for self-testing and to evaluate your learning progress.

Organization

Both documents are strictly organized according to the original textbook's chapter sequence, facilitating synchronized learning and reference with the textbook.

Acknowledgments and Disclaimer

• Special thanks to Professors Kevin M. Lynch and Frank C. Park for authoring such an excellent robotics textbook.
• These notes and the self-assessment collection are personal study materials compiled by the author and are intended for learning and academic exchange purposes only. While every effort has been made to ensure accuracy, errors or omissions may exist. If you have any questions or find errors, please refer to the original textbook.

Hope these materials are helpful for your studies!