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ROBOTICS > CHAP 6 & 7 > Flashcards

CHAP 6 & 7 Flashcards

1
Q

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?

A

the problem involves solving nonlinear equations and may have multiple solutions.

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2
Q

in the context of a robot manipulator, what is the primary difference between revolute and prismatic joints?

A

revolute joints allow rotational motion, whereas prismatic joints allow translational motion.

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3
Q

which of the following techniques is commonly used to solve the forward kinematics problem for a robotic arm?

A

denavit-hartenberg (DH) parameter method.

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4
Q

for a mobile robot with differential drive, which parameter is directly controlled to navigate to a desired position using inverse kinematics?

A

the wheel velocities.

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5
Q

in the Denavenberg convention for robotic arms, which of the following parameters is NOT typically included?

A

end-effector orientation

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6
Q

which type of joint would most likely be used in a robotic system requiring extensive linear motion along a single axis?

A

prismatic joint

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7
Q

when considering the workspace of a robotic arm, what does the term “reach” refer to?

A

the maximum distance the end-effector can extend from the base.

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8
Q

in a 3-DOF planar robotic arm, how many solutions. can there be to the inverse kinematics problem for a given end-effector position?

A

exactly two solutions.

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9
Q

what does the jacobian matrix represent in the context of robot kinematics?

A

the relationship between joint velocities and end- effector velocities.

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10
Q

in the context of robotic kinematics, what is a singularity?

A

a configuration where the robot loses a degree of freedom.

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11
Q

which of the following is NOT one of the denavit- hartenberg (DH) parameters?

A

end-effector position

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12
Q

when using the denavit-hartenberg convention, what is the primary purpose of assigning coordinate frames to each robot link?

A

to simplify the computation of forward and inverse kinematics

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13
Q

in velocity kinematics, which of the following is true about the jacobian matrix?

A

it relates the joint velocities to the end-effector velocities.

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14
Q

how is a singularity in a robotic manipulator typically identified using the Jacobian matrix?

A

by calculating the determinant of the jacobian matrix and checking if it is zero

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15
Q

which scenario best exemplifies a robot encountering a singularity?

A

a robotic arm’s joint configuration causes infinite end- effector velocity for finite joint velocities

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16
Q

in trajectory planning, what is the primary goal when considering the robot’s kinematics and dynamics?

A

finding a smooth and feasible path for the robot to
follow

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17
Q

how does the jacobian matrix assist in trajectory planning for robotic manipulators?

A

by describing the relationship between joint velocities and end-effector velocities

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18
Q

in the context of velocity kinematics, which of the following is NOT typically analyzed using the jacobian matrix?

A

energy consumption

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19
Q

in a robot with prismatic joints, which denavit- hartenberg parameter is variable?

A

link offset

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20
Q

what is the primary challenge associated with solving the inverse kinematics problem for a robotic manipulator?

A

the problem involves solving nonlinear equations and may have multiple solutions or no solution at all.

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21
Q

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?

A

manipulability

22
Q

when designing a robot’s kinematic chain using the DH convention, why is it important to carefully choose the coordinate frames?

A

to simplify the resulting transformation matrices

23
Q

in trajectory planning, what is the primary benefit of using a polynomial interpolation method?

A

it provides a smooth and continuous trajectory for the robot to follow

24
Q

what is the main purpose of using the jacobian transpose method in robotic control?

A

to generate a control law that uses joint torques proportional to the desired end-effector forces

25
Q

which of the following is a common method for avoiding singularities during the trajectory planning of a robotic manipulator?

A

modifying the path to steer clear of configurations

26
Q

which of the following factors is most crucial in ensuring the stability of a robot with a high center of mass?

A

lowering the center of mass

27
Q

in a robotic system, why is it important to consider the base of support?

A

it defines the area within which the center of mass must remain to ensure stability.

28
Q

how do external forces like gravity and friction impact the static equilibrium of a robot?

A

they must be counteracted by internal forces and torques to maintain equilibrium.

29
Q

what is the role of internal forces and torques in maintaining the equilibrium of a robot?

A

they balance the external forces to keep the robot stationary.

30
Q

in the context of robot statics, what happens if the center of mass falls outside the base of support?

A

the robot will likely tip over.

31
Q

for a mobile robot navigating uneven terrain, which aspect of statics is most critical to ensure stability?

A

ensuring a wide base of support

32
Q

in industrial robotics, how does understanding statics contribute to the design of robotic arms?

A

it helps in maintaining the balance and stability of the arms during operation.

33
Q

which of the following is a primary application of statics in humanoid robotics?

A

to analyze the equilibrium for mimicking human
movements

34
Q

when designing a wheeled robot, why is it important to consider the distribution of weight?

A

to ensure the robot does not tip over during acceleration and deceleration

35
Q

in the context of statics, what is the significance of the force of friction acting on a robot?

A

it provides the necessary resistance to maintain the robot’s equilibrium.

36
Q

which of the following best describes the distinction between kinematics and dynamics in robotics?

A

kinematics deals with motion without considering forces, while dynamics incorporates forces and torques affecting motion.

37
Q

what role do the newton-euler equations play in robot dynamics?

A

they provide a framework for analyzing the forces and torques acting on a robot and their resulting accelerations.

38
Q

how do the inertial properties of a robot, such as mass distribution and moments of inertia, influence its dynamic behavior?

A

they impact the robot’s response to external forces and torques

39
Q

what is the primary purpose of analyzing external forces and torques in robot dynamics?

A

to optimize control strategies for accurate and stable robot movements

40
Q

which term describes the inherent property of a body that opposes any force causing a change in its motion?

A

inertia

41
Q

in the context of robot dynamics, what is the definition of torque?

A

a force that produces or tends to produce rotation

42
Q

how does an understanding of robot dynamics contribute to the development of control algorithms?

A

it enables the development of precise and agile movements for the robot.

43
Q

in which application does robot dynamics play a crucial role in enhancing the dexterity and precision of robotic hands?

A

robotic manipulation

44
Q

for which type of robotics system is analyzing dynamic stability essential to optimize navigation and locomotion capabilities?

A

mobile robots

45
Q

how does incorporating dynamic modeling contribute to safe and natural interactions between robots and humans in collaborative environments?

A

it enables the robot to predict and adapt to human movements.

46
Q

what aspect of robot dynamics is crucial for analyzing the flight stability of aerial robots like drones?

A

mass distribution

47
Q

in which scenario would an understanding of robot dynamics be most beneficial for enhancing the efficiency of a robotic system?

A

when developing algorithms for obstacle avoidance

48
Q

what role do external forces like gravity play in the dynamic behavior of a walking humanoid robot?

A

they assist in maintaining balance during walking.

49
Q

how does analyzing the dynamic behavior of robotic systems contribute to the development of efficient energy management strategies?

A

by optimizing control algorithms to reduce energy consumption

50
Q

for which application is understanding the dynamic interaction between robots and their environment crucial for ensuring safe and effective operation?

A

robot-assisted surgeries

ROBOTICS (2 decks)

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