CHAP 6 & 7 Flashcards
a robotic arm with 6 degrees of freedom (DOF) needs to position its end-effector at a specific point in space. Which of the following statements is true regarding the complexity of solving its inverse kinematics?
the problem involves solving nonlinear equations and may have multiple solutions.
in the context of a robot manipulator, what is the primary difference between revolute and prismatic joints?
revolute joints allow rotational motion, whereas prismatic joints allow translational motion.
which of the following techniques is commonly used to solve the forward kinematics problem for a robotic arm?
denavit-hartenberg (DH) parameter method.
for a mobile robot with differential drive, which parameter is directly controlled to navigate to a desired position using inverse kinematics?
the wheel velocities.
in the Denavenberg convention for robotic arms, which of the following parameters is NOT typically included?
end-effector orientation
which type of joint would most likely be used in a robotic system requiring extensive linear motion along a single axis?
prismatic joint
when considering the workspace of a robotic arm, what does the term “reach” refer to?
the maximum distance the end-effector can extend from the base.
in a 3-DOF planar robotic arm, how many solutions. can there be to the inverse kinematics problem for a given end-effector position?
exactly two solutions.
what does the jacobian matrix represent in the context of robot kinematics?
the relationship between joint velocities and end- effector velocities.
in the context of robotic kinematics, what is a singularity?
a configuration where the robot loses a degree of freedom.
which of the following is NOT one of the denavit- hartenberg (DH) parameters?
end-effector position
when using the denavit-hartenberg convention, what is the primary purpose of assigning coordinate frames to each robot link?
to simplify the computation of forward and inverse kinematics
in velocity kinematics, which of the following is true about the jacobian matrix?
it relates the joint velocities to the end-effector velocities.
how is a singularity in a robotic manipulator typically identified using the Jacobian matrix?
by calculating the determinant of the jacobian matrix and checking if it is zero
which scenario best exemplifies a robot encountering a singularity?
a robotic arm’s joint configuration causes infinite end- effector velocity for finite joint velocities
in trajectory planning, what is the primary goal when considering the robot’s kinematics and dynamics?
finding a smooth and feasible path for the robot to
follow
how does the jacobian matrix assist in trajectory planning for robotic manipulators?
by describing the relationship between joint velocities and end-effector velocities
in the context of velocity kinematics, which of the following is NOT typically analyzed using the jacobian matrix?
energy consumption
in a robot with prismatic joints, which denavit- hartenberg parameter is variable?
link offset
what is the primary challenge associated with solving the inverse kinematics problem for a robotic manipulator?
the problem involves solving nonlinear equations and may have multiple solutions or no solution at all.
in velocity kinematics, which term best describes the ability of a robot’s end-effector to move in different directions given a set of joint velocities?
manipulability
when designing a robot’s kinematic chain using the DH convention, why is it important to carefully choose the coordinate frames?
to simplify the resulting transformation matrices
in trajectory planning, what is the primary benefit of using a polynomial interpolation method?
it provides a smooth and continuous trajectory for the robot to follow
what is the main purpose of using the jacobian transpose method in robotic control?
to generate a control law that uses joint torques proportional to the desired end-effector forces
which of the following is a common method for avoiding singularities during the trajectory planning of a robotic manipulator?
modifying the path to steer clear of configurations
which of the following factors is most crucial in ensuring the stability of a robot with a high center of mass?
lowering the center of mass
in a robotic system, why is it important to consider the base of support?
it defines the area within which the center of mass must remain to ensure stability.
how do external forces like gravity and friction impact the static equilibrium of a robot?
they must be counteracted by internal forces and torques to maintain equilibrium.
what is the role of internal forces and torques in maintaining the equilibrium of a robot?
they balance the external forces to keep the robot stationary.
in the context of robot statics, what happens if the center of mass falls outside the base of support?
the robot will likely tip over.
for a mobile robot navigating uneven terrain, which aspect of statics is most critical to ensure stability?
ensuring a wide base of support
in industrial robotics, how does understanding statics contribute to the design of robotic arms?
it helps in maintaining the balance and stability of the arms during operation.
which of the following is a primary application of statics in humanoid robotics?
to analyze the equilibrium for mimicking human
movements
when designing a wheeled robot, why is it important to consider the distribution of weight?
to ensure the robot does not tip over during acceleration and deceleration
in the context of statics, what is the significance of the force of friction acting on a robot?
it provides the necessary resistance to maintain the robot’s equilibrium.
which of the following best describes the distinction between kinematics and dynamics in robotics?
kinematics deals with motion without considering forces, while dynamics incorporates forces and torques affecting motion.
what role do the newton-euler equations play in robot dynamics?
they provide a framework for analyzing the forces and torques acting on a robot and their resulting accelerations.
how do the inertial properties of a robot, such as mass distribution and moments of inertia, influence its dynamic behavior?
they impact the robot’s response to external forces and torques
what is the primary purpose of analyzing external forces and torques in robot dynamics?
to optimize control strategies for accurate and stable robot movements
which term describes the inherent property of a body that opposes any force causing a change in its motion?
inertia
in the context of robot dynamics, what is the definition of torque?
a force that produces or tends to produce rotation
how does an understanding of robot dynamics contribute to the development of control algorithms?
it enables the development of precise and agile movements for the robot.
in which application does robot dynamics play a crucial role in enhancing the dexterity and precision of robotic hands?
robotic manipulation
for which type of robotics system is analyzing dynamic stability essential to optimize navigation and locomotion capabilities?
mobile robots
how does incorporating dynamic modeling contribute to safe and natural interactions between robots and humans in collaborative environments?
it enables the robot to predict and adapt to human movements.
what aspect of robot dynamics is crucial for analyzing the flight stability of aerial robots like drones?
mass distribution
in which scenario would an understanding of robot dynamics be most beneficial for enhancing the efficiency of a robotic system?
when developing algorithms for obstacle avoidance
what role do external forces like gravity play in the dynamic behavior of a walking humanoid robot?
they assist in maintaining balance during walking.
how does analyzing the dynamic behavior of robotic systems contribute to the development of efficient energy management strategies?
by optimizing control algorithms to reduce energy consumption
for which application is understanding the dynamic interaction between robots and their environment crucial for ensuring safe and effective operation?
robot-assisted surgeries
