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ACS337 Robotics > Robotics > Flashcards

Robotics Flashcards

1
Q

What is a robot?

A

A mechanism with a degree of autonomy

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2
Q

Why is it good to have robots? [4] {BADH}

A

Boring things
Artificial limbs
Dangerous Environments
High Precision/Speed

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3
Q

What is Depiction related to robotics

A

making sure people don’t get attached to robots

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4
Q

What in Employment related to robotics

A

make sure robots don’t take disprotional amount of jobs from some people

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5
Q

What is privacy in relation to robotics ethics

A

how do you keep people information private

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6
Q

What is safety in proportion to robotics

A

Make sure they are designed properly in order not to harm people

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7
Q

What is a revolute joint

A

rotational

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8
Q

What is a prismatic joint

A

translational

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9
Q

What is a spherical joint?

A

Rotate in all axis

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10
Q

What is a screw joint

A

translational and rotational in one axis

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11
Q

mechanical structure- Wrist

A

At the end of the arm- rotational

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12
Q

Mechanical Structure- End effector

A

Attached to wrist, specific to perform task

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13
Q

What is degrees of freedom

A

Equal to number of joints- robots freedom of motion in 3D space

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14
Q

Why would be want more degrees of freedom then exist (redundant manipulator)

A

Can perform tasks with high dexterity- avoid obstacles

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15
Q

What is Number of axes

A

Kind of the same as number of joints

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16
Q

What is workspace?

A

Volume that the end effector can reach, showed in dimensions

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17
Q

What is def robots payload

A

Weight robot can carry fully outstretched

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18
Q

What is Reach?

A

The maximum distance a robot can reach (horizontal/vertical)

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19
Q

What are the 3 things that define precision? RAR

A

Resolution, Accuracy and Repeatability

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20
Q

What is resolution

A

the minimum motion increment that the robot can perform

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21
Q

What is accuracy

A

how close the manipulator can come to a given point within in the workspace

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22
Q

Does accuracy vary accross the workspace

A

yes

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23
Q

What is repeatability

A

how accurately the robot can reach the same position when the motion is repeated

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24
Q

What is the difference between an open loop chain and a closed loop chain

A

in a closed loop chain every link is connected to at least 2 other links
open loop each link is connected to only one another link

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25
Q

other name for open loop

A

serial

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26
Q

other name for closed loop

A

parralel

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27
Q

Which KC (kinematic chain) has a higher payload

A

Open loop

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28
Q

Which KC has more degrees of freedom

A

open loop

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29
Q

Which KC has a bigger workspace

A

open loop

30
Q

which kc has faster movements

A

closed loop

31
Q

Which kc has better accuracy

A

closed loop

32
Q

Cartesian robot arm configeration

A

PPP

33
Q

Cartesian robot arm workspace

A

3d rectangle

34
Q

Cartesian Robot attractive qualties

A

accuracy
handling heavy loads

35
Q

Cylindrical robot arm configuration

A

Rpp

36
Q

Cylindrical robot arm workspace

A

ipad question1

37
Q

Cylindercal robot arm sketch

A

ipad question 3

38
Q

Cartesian robot sketch

A

ipad question 2

39
Q

Spherical Robot arm configeration

A

RRP

40
Q

Spherical robot arm sketch

A

ipad question 4

41
Q

Spherical robot arm workspace

A

IPAD QUESTION 5

42
Q

Scara robot arm configeration

A

RRP

43
Q

Scara robot arm sketch

A

ipad question 6

44
Q

Scara robot arm workspace

A

ipad question 7

45
Q

Articulated robot arm configeration

A

RRR

46
Q

Articulated robot arm skech

A

ipad question 8

47
Q

Articulated robot arm workspace

A

ipad question 9

48
Q

What does kinematic modelling consider

A

position acceleration velocity

49
Q

what does Dynamic modelling consider

A

forces and torques

50
Q

What is forward kinematics

A

chose joints find out end

51
Q

what is inverse kinematics

A

choose end position calculate joints

52
Q

What is differential kinematics

A

joint velocities to end effector velocities

53
Q

What is the one frame which doesn’t depend on robot

A

world frame

54
Q

What hand co ordinate system is used

A

right hand

55
Q

Rotation about fixed frame what order do they go in

A

reverse

56
Q

Rotations about moving current frame what order do they go in

A

Normal

57
Q

Why is SCARA better then spherical robot arm for pick and place?

A

More stability in vertical plane and can move faster

58
Q

What is a singularity

A

When a degree of freedom as lost and small speeds might results in high joint velocities

59
Q

How can you find singularities?

A

When rank of Jacobean is not full

60
Q

Jacobean matrix rows

A

x,y,z

61
Q

What detirmines workspace? [3]

A

Joint type, link length, presence of any limiters

62
Q

Types of end effectors

A

magnetic, gripper, vaacum

63
Q

What is the Lagrange -Euler approach for dynamic

A

kinetic- potentional energy

64
Q

What is Newton-Euler approach for dynamic

A

F=MA or T= IA

65
Q

What is a path?

A

sequence of positions a robot should move to

66
Q

What is trajectory

A

specifies along the path the timings of when the robot is supposed to be at each position

67
Q

Joint space scheme explain

A

use waypoints and inverse kinematics to joint joint angles at each of them, and then generate trajectory of joint angles

68
Q

Operational/Task space scheme explain

A

task points to make trajectory and solves kinematics at each point along line

69
Q

Pros of Task space [2]

A

Motion is predictable, Easier to handle obstacles

70
Q

Cons of Task space [2]

A

slower execution as iK at every step, actuator motion not guaranteed to be smooth

71
Q

Join space pros [2]

A

Faster execution, actuator motion is smooth and easier to validate

72
Q

Joint space con [1]

A

intermediate points not guaranteed and cant deal with objects

ACS337 Robotics (1 decks)

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