Robotics MCQ – Set 7

This set of Multiple Choice Questions & Answers (MCQs) focuses on “Robotics – Set 7”.

1. Which models gives relation between the position and orientation of the end-effector and spatial positions of joint-links?
a) Kinematic model
b) Differential model
c) Integral model
d) Static model
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2. Which kinematic model deals with a given set of joint-link parameter, to find the position and orientation of the end-effector with respect to the known reference frame?
a) Direct Kinematic model
b) Differential model
c) Integral model
d) Inverse Kinematic model
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3. Which kinematic model deals with a given position and orientation of the end-effector with respect to the inertial reference frame to find the required set of joint variables to bring the end-effector to the specified position and orientation?
a) Direct Kinematic model
b) Differential model
c) Integral model
d) Inverse Kinematic model
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4. Which of the following is not present in an open loop system?
a) Plot
b) Input
c) Output
d) Feedback
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5. If J(q) is the Jacobian of a manipulator, Ve is the end effector velocity and vector ǭ is the joint velocities, then which of the following equations are correct?
a) Ve =J(q)* ǭ
b) Ve – J(q) = ǭ
c) Ve + J(q) = ǭ
d) Ve * J(q) = ǭ
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6. Which of the following refers to the differential motion of manipulators?
a) Direct Kinematic model
b) Differential model
c) Integral model
d) Inverse Kinematic model
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7. Which of the following denote Denavit-Hartenberg representation of transformation matrix?
(cosθ =cθ , sinθ =sθ, cosα =cα , sinα =sα for link i ; a, d translation along x and z axes and θ ,α are rotation about z and x axes respectively)
a) ^i-1T_i = \(\begin{bmatrix}
cθ & -sθ cα & sθ sα & acθ\\
sθ & cα cθ & -cθ sα & asθ\\
0 & sα & cα & d\\
0 & 0 & 0 & 1
\end{bmatrix}\)
b) ^i-1T_i = \(\begin{bmatrix}
sθ & -sθ cα & sθ sα & acθ\\
cθ & cα cθ & -cθ sα & asθ\\
0 & sα & cα & d\\
0 & 0 & 0 & 1
\end{bmatrix}\)
c) ^i-1T_i = \(\begin{bmatrix}
cθ & -sθ & sα & acθ\\
sθ & cθ & -sα & asθ\\
0 & sα & cα & d\\
0 & 0 & 0 & 1
\end{bmatrix}\)
d) ^i-1T_i = \(\begin{bmatrix}
cθ & -sθ cα & sθ sα & acθ\\
sθ & cα cθ & cθ sα & asθ\\
1 & sα & cα & d\\
0 & 0 & 0 & 1
\end{bmatrix}\)
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8. How many DH (Denavit-Hartenberg) parameters exist for any manipulator?
a) 2
b) 3
c) 4
d) 6
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9. Which of the following are the DH parameters of 2-DOF planar manipulator shown below?
(One revolute joint {1} and one prismatic joint {2}) and (a_i, d_i translation along x and z axes and θi, α_i are rotation about z and x axes respectively)

a)

b)

c)

d)

Answer: a
Explanation: To find out the DH parameters we have to first draw the free body diagram for the manipulator. While drawing free body diagram we should make sure that x_i should always intersect and be perpendicular to x_i-1. We should also define motion direction along z.

Now, as we know a_i, d_i are translation along x and z axes and θ_i, α_i are rotation about z and x axes respectively we can write the DH parameters as

link	ai	αi	di	θi
{1}	0	900	0	θ
{2}	0	0	d	0

10. Inverse Kinematic problem is more complex to solve than Direct Kinematic problem. True or False?
a) True
b) False
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Sanfoundry Global Education & Learning Series – Robotics.

To practice all areas of Robotics, here is complete set of Multiple Choice Questions and Answers.

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