Manipulation + (complex) sensors

Question 1

What is a manipulator?

Answer 1

A effector able to move/effect objects in the robot’s environment

Question 2

What does a manipulator consists of?

Answer 2

Links an joints

Question 3

Define manipulation

Answer 3

a goal drive movement of any type of manipulator

Question 4

What does eventually effects the object?

Answer 4

The endeffector

Question 5

Which 3 reasons make moving an endeffector hard?

Answer 5

• each seperate link has a joint limit
• other body parts are in the way
• obstacles in the environment

Question 6

Define free space/workspace:

Answer 6

the space in which movement is possible (towards the goal state), and in which a path has to be searched

Question 7

How many CDOF provides a single joint?

Answer 7

Usually 1 CDOF

Question 8

How many CDOF provides one actuator

Answer 8

One actuator provides 1 CDOF

Question 9

How many CDOF does a Antromorphic arm has and why?

Answer 9

7 CDOF, and a ball-joint-link is hard to create

Question 10

Define kinmatics

Answer 10

The correspondence between actuator movement and resulting effector motion

Question 11

Give three difficulties of manipulation

Answer 11

Kinematics, choice of effector, creating as much CDOF as a natural effector

Question 12

Define teleoperation

Answer 12

controlling a machine from a distance

Question 13

Define forward kinematics

Answer 13

what is the manipulator (endeffector) pose/movement given the joint movements?

Question 14

Define Inverse kinematics

Answer 14

which joint movements are needed to get a particular manipulator movement

Question 15

Which contraints are imposed on Ackermann and Diffrential drive?

Answer 15

They both cannot move directly sideways, whereas omnidirectional can

Question 16

Define sensors

Answer 16

Physical devices to measure physical quantities

Question 17

Define proprioceptive sensors

Answer 17

measures internal values

Question 18

Define exteroceptive sensors

Answer 18

measures values from the environment

Question 19

Define passive sensors

Answer 19

Measure energy entering the probe

Question 20

Define active sensors

Answer 20

Emits energy and measures the reaction from the environment

Question 21

Define uncertainty:

Answer 21

the inability to be certain about a state

Question 22

What are 4 possible reasons of uncertainty?

Answer 22

• sensor noise and errors
• sensor limitations
• effector and actuator noise and erros
• Lack of knowledge about environment/dynamic environment

Question 23

What is the dynamic range of a sensor and what is it measured like?

Answer 23

Ratio: min/max of input value. Measured in dB (10*log) or in bit

Question 24

Define the resolution of a sensor

Answer 24

the smallest diffrence between values that a sensor can detect

Question 25

Define bandwidth of frequency

Answer 25

The speed whit which a sensor can provide a stream of measurments

Question 26

Define signal to symbol problem

Answer 26

the output of the sensor has to be translated into useful information

Question 27

What do you need to keep in mind when using light-sensors?

Answer 27

Ambient light and when using reflectance sensors also calibration.