Robot Kinematics - Inverse Kinematics Quiz
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Questions and Answers

What is a characteristic of independent joint PID control?

  • It requires complex models for implementation.
  • It is sensitive to modeling errors.
  • It is robust to modeling errors. (correct)
  • It involves only end-effector control.

    • Which of the following orders the given tasks by computational expense from least to most expensive?

  • Forward kinematics < Jacobian calculation < Inverse kinematics (7 DoF manipulator, numerical) < Inverse kinematics (4 DoF SCARA robot)
  • Forward kinematics < Inverse kinematics (4 DoF SCARA robot) < Jacobian calculation < Inverse kinematics (7 DoF manipulator, numerical) (correct)
  • Jacobian calculation < Forward kinematics < Inverse kinematics (4 DoF SCARA robot) < Inverse kinematics (7 DoF manipulator, numerical)
  • Inverse kinematics (4 DoF SCARA robot) < Jacobian calculation < Forward kinematics < Inverse kinematics (7 DoF manipulator, numerical)

    • What action will be taken if the battery level is adequate?

  • Shut down temporarily.
  • Replace the batteries.
  • Do main task. (correct)
  • Perform maintenance.

    • What can be assumed about the AUV in relation to the charger?

    <p>It is already near the charger.</p> Signup and view all the answers

    How is 'Failure' interpreted in a condition node?

    <p>As 'False'.</p> Signup and view all the answers

    What is a requirement for traversing edges in the RRT* algorithm?

    <p>Your vehicle must traverse any edge in both directions.</p> Signup and view all the answers

    Which sensor is classified as proprioceptive?

    <p>Accelerometer.</p> Signup and view all the answers

    What does the prediction step in a localization system do?

    <p>Increases position uncertainty.</p> Signup and view all the answers

    For a differential drive robot, what is true about the motors?

    <p>Each wheel is driven by a separate motor.</p> Signup and view all the answers

    Which condition must be satisfied for an algorithm to be considered valid for calculating the inverse kinematics of a manipulator?

    <p>The algorithm must meet the criterion of $|ε| &lt; desired tolerance$.</p> Signup and view all the answers

    For a 7 DoF serial link manipulator, which properties can be controlled independently?

    <p>Translational and angular velocity of the end effector.</p> Signup and view all the answers

    Which statement regarding the formulation of forward kinematics in a serial link manipulator is true?

    <p>Closed form can always be formulated if DH parameters are known.</p> Signup and view all the answers

    Which of the following is generally true regarding manipulator dynamics?

    <p>The required joint torques depend on the current configuration of the robot.</p> Signup and view all the answers

    What is the maximum number of controllable degrees of freedom for the end effector pose for a robot with 7 revolute joints?

    <p>6 degrees of freedom with revolute joints.</p> Signup and view all the answers

    What does the Jacobian relate in manipulator kinematics?

    <p>It determines the relationship between joint velocities and end-effector velocities in task space.</p> Signup and view all the answers

    Which joint actuation option provides the highest precision for end effector positioning?

    <p>Brushless DC motor and optical encoder.</p> Signup and view all the answers

    In grasping tasks, what type of grasp is suitable for adjusting cylindrical beverage cans?

    <p>Force closure.</p> Signup and view all the answers

    What must be considered when making a statement about the inverse kinematics for a serial link manipulator?

    <p>The joint configuration may result in no solution.</p> Signup and view all the answers

    Which statement is true about formulating forward kinematics for a serial link manipulator?

    <p>A closed form can always be generated if the DH parameters are known.</p> Signup and view all the answers

    The joint torques necessary for a specific end effector acceleration are constant, regardless of the robot's configuration.

    <p>False</p> Signup and view all the answers

    Independent joint PID control is robust to modeling errors.

    <p>True</p> Signup and view all the answers

    What happens if the battery level is not okay?

    <p>Recharge</p> Signup and view all the answers

    What is the maximum number of controllable degrees of freedom for the end effector pose with a 7 DoF robot using revolute joints?

    <p>6</p> Signup and view all the answers

    What is the computational cost order from least to most expensive for manipulator kinematics?

    <p>Forward kinematics, Jacobian calculation, Inverse kinematics (4 DoF SCARA robot), Inverse kinematics (7 DoF manipulator, numerical)</p> Signup and view all the answers

    The __________ relates joint velocities to end-effector velocities in task space.

    <p>Jacobian</p> Signup and view all the answers

    A multi-rotor drone can perform __________ landing and takeoff.

    <p>vertical</p> Signup and view all the answers

    Match the following types of joint actuation with their precision for positioning an end effector:

    <p>Brushless DC motor and optical encoder = Highest precision Stepper motor in direct drive configuration = Moderate precision Permanent magnet DC motor and a potentiometer = Lower precision Pneumatic cylinder with a strain gauge air pressure sensor = Lowest precision</p> Signup and view all the answers

    Match the sensor with its classification (1 for proprioceptive, 2 for exteroceptive):

    <p>RGB-D = 2 Gyro = 1 Accelerometer = 1 Radar = 2</p> Signup and view all the answers

    For a 7 DoF manipulator, what types of movement can the end effector's pose control independently?

    <p>Both translational and angular motion</p> Signup and view all the answers

    Form closure is the most suitable grasp type for picking up greased parts.

    <p>False</p> Signup and view all the answers

    If 'Do main task' takes a long time, the AUV might pause execution to recharge its batteries.

    <p>True</p> Signup and view all the answers

    What defines the relationship between joint torques and end-effector wrenches?

    <p>Jacobian transpose</p> Signup and view all the answers

    A condition can have more return statuses than an action.

    <p>False</p> Signup and view all the answers

    The velocity of the end effector can be determined using the Jacobian's relation to __________.

    <p>joint velocities</p> Signup and view all the answers

    Which of the following statements regarding the RRT* algorithm is true?

    <p>The RRT* algorithm can produce a tree structure.</p> Signup and view all the answers

    The update step in a localization system is associated with __________ uncertainty.

    <p>decreasing</p> Signup and view all the answers

    Which of the following grasp types is suitable for adjusting cylindrical beverage cans?

    <p>Force closure</p> Signup and view all the answers

    To drive forward, you would give +V voltage to both motors of a differential drive robot.

    <p>False</p> Signup and view all the answers

    Study Notes

    Question 1

    • Inverse kinematics algorithms numerically calculate a manipulator's inverse kinematics using a Denavit-Hartenberg (DH) description.
    • The algorithm calculates until the error is less than a desired tolerance.

    Question 2

    • For a 7-DOF (RRRRRRR) serial link manipulator, the translational and angular velocity of the end effector can be controlled independently.

    Question 3

    • Forward kinematics of a serial link manipulator can be formulated numerically if DH parameters are known.
    • Forward kinematics can be calculated using a closed form if DH parameters are known.
    • Numerical approximation for inverse kinematics is possible if DH parameters are known.

    Question 4

    • Numerical approximation for inverse kinematics of a serial link manipulator is possible if DH parameters are known.
    • Joint torques required for a specific end-effector acceleration depend on the robot's current configuration.

    Question 5

    • A 7-DOF robot has a maximum of 6 degrees of freedom for the end effector pose.

    Question 6

    • The Jacobian relates joint velocities to end-effector velocities in task space.
    • The Jacobian transpose relates joint torques to end-effector wrenches.

    Question 7

    • Brushless DC motor with optical encoder provides the highest precision.
    • Stepper motors in direct drive configurations offer high precision.
    • Permanent magnet DC motors with potentiometers provide slightly less precision.
    • Pneumatic cylinders with strain gauge air pressure sensors hold the lowest precision.

    Question 8

    • Caging grasp is for picking up trash.
    • Form closure is used for picking up greased parts.
    • Force closure is used for adjusting cylindrical beverage cans.

    Question 9

    • Independent joint PID control is robust to modeling errors.
    • End-effector force control can be implemented using only joint sensors, given good kinematic and dynamic models.

    Question 10

    • Forward kinematics calculations are computationally inexpensive.
    • Jacobian calculations are moderately expensive.
    • Inverse kinematics calculations for a 4-DOF robot (less complex) are more expensive.
    • Inverse kinematics calculations for a 7-DOF robot (complex) are the most expensive.

    Question 11

    • If battery level is low, the robot enters recharge mode.
    • If battery level is satisfactory, the robot continues its primary task.

    Question 12

    • The AUV should be near the charger when docking.
    • If primary task takes time, the AUV could pause for charging.

    Question 13

    • The number of return states for a condition is fewer than for an action.
    • For a condition node, "Failure" equates to "False".

    Question 14

    • The RRT* algorithm produces a tree structure with traversable edges in both directions.

    Question 15

    • The A* algorithm terminates if no valid solution exists.

    Question 16

    • Each wheel of a differential drive robot is driven by a separate motor.
    • For a differential drive robot, forward motion requires opposite voltages to the motors.

    Question 17

    • Multi-rotor drones excel at vertical takeoff, hovering, and high maneuverability.

    Question 18

    • RGB-D is exteroceptive.
    • Accelerometer is proprioceptive.
    • Gyro is proprioceptive.
    • Radar is exteroceptive.

    Question 19

    • Localization system steps are not described; the question lacks a list of matching statements.

    Question 20

    • Occupancy grid memory requirements increase cubically with dimension.

    Question 21

    • Kalman filter state representation uses a Gaussian distribution.

    Question 22

    • Loop closures are essential in Simultaneous Localization And Mapping (SLAM).
    • Proprioceptive sensors aren't always superior for loop closure detection compared to exteroceptive sensors.

    Question 23

    • Current SLAM systems can cover extended environments.

    Question 24

    • Accelerometers are best for collision detection.

    Question 25

    • Exploration often targets areas at the boundary of known and unknown space.
    • Occupancy grids are frequently used for exploration.

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    Answers Re-exam DD2410 2022 PDF

    Description

    This quiz covers key concepts in robot kinematics, particularly focusing on inverse kinematics algorithms and their application to 7-DOF manipulators. Explore topics such as Denavit-Hartenberg parameters, forward kinematics, and the relationship between joint torques and end-effector acceleration. Test your understanding of how these principles are applied in robotic systems.

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