Chapter 1

Question 1

What is a robot?

Answer 1

A system that:
- physically exists
- can sense part of it’s environment
- can act based on sensor measurements
- is autonomous

Question 2

Robot Structure

Answer 2

Frame or chassis to the other components

Question 3

Sensors

Answer 3

Devices that measure or detect certain attributes of the environment

Question 4

Actuators

Answer 4

Devices that manipulate the environment

Question 5

Computer controllers

Answer 5

Decides the sequence of actions to take (command the actuators)

Question 6

Power Source

Answer 6

The source of energy to power the active sensors and actuators as well as the computer controller

Question 7

Unsigned Integer

Answer 7

All positive 2^(n) - 1

Question 8

Signed Integer

Answer 8

Half positive/ half negative -2^(n-1) to 2^(n-1) - 1

Question 9

The maximum number of memory locations

Answer 9

2^n memory address where n is the number of bits

Question 10

4GB is how many memory addresses?

Answer 10

4 x 10^9

Question 11

No. of Quantization Levels

Answer 11

2^n

Question 12

What is the Resolution and how do you find it?

Answer 12

The minimum input voltage change to cause a change in digital output
Full Scale Voltage(V)/No. of Quantization levels(2^n)

Question 13

Maximum Quantisation Error

Answer 13

Full Scale Voltage(V)/No. of Quantization levels(2^(n+1))

Question 14

ADC Operational Range

Answer 14

2^n