Robotics 1-50

1.

1 point

K = (1/2)MV² is a:

Vector quantity

Scalar quantity

Real quantity

Coefficient quantity

2.

1 point

Sequential steps to derive kinematics model is -

Assign the rotation and position matrixes, Find link parameters, Transformation matrices of adjacent joints and Calculate Kinematics Matrix

Assign D-H coordinates frames, Find link parameters, Transformation matrices of adjacent joints and Calculate Kinematics Matrix

Assign position coordinates frames, Find link parameters, Transformation matrices of adjacent joints and Calculate Kinematics Matrix

Assign rotational coordinates frames, Find link parameters, Transformation matrices of adjacent joints and Calculate Kinematics Matrix

3.

1 point

In the Joint-Interpolated Trajectory, there are four positions for each arm motion are:

initial, set-down, lift-off, and final position

initial, lift-off, set-down, and final position

initial, lift-off, final, and set-down position

initial, set-down, lift-off, and final position

4.

1 point

The original LISP machines produced by both LMI and Symbolics were based on research performed at:

MIT

None of the above

Stanford University

RAMD

CMU

5.

1 point

There two problems are related with the robot arm kinematics are:

Direct kinematics and Inverse kinematics

Direct kinematics and Forward kinematics

Dynamic and inverse kinematics

Dynamics and control

6.

1 point

What kinds of programs can be tested and evaluated using simulation techniques?

Reference programing

On-line programing

Robot Operating Systems(ROS)

Off-line programing

7.

1 point

There are two coordinates are involve in camera modeling are:

Cartesian coordinate and camera coordinate

Image coordinate and camera coordinate

Cartesian coordinate and space coordinate

3D coordinate and 2D coordinate

8.

1 point

The inputs for the direct kinematics are?

Joint velocity

Joint angles

Angular momentum

Joint force

9.

1 point

_______is the science that integrates mechanical devices with electronics control.

Electrical systems

Mechanical systems

Mechatronics

Robotics

10.

1 point

What is the second segment for the 4-3-4 trajectory planning?

h_n(t)=a_n4t⁴+a_n3t³+a_n2t²+a_n1t¹+a_n0

h_n(t)=a_n4t+a_n3t³+a_n2t²+a_n1t¹+a_n0

h_n(t)=a_n4t⁴+a_n3t³+a_n2t²+a_n1t+a_n0

h₂(t)=a₂₃t³+a₂₂t²+a₂₁t¹+a₂₀

11.

1 point

Which of the following terms refers to the use of compressed gasses to drive (power) the robot device?

electric

photo sensitive

pneumatic

hydraulic

12.

1 point

There are mainly two methods for the manipulator force control:

Kinematics control and dynamic control

Impedance control and hybrid control

Forward control and feedback control

PID control and PD control

13.

1 point

In this (img: L(q,q)=K(q,q)-P(q) ) equation K is representing:

Generalized coordinates of the robot arm

Total kinetic energy of the robot arm

First time derivative of the generalized coordinate

Total potential energy of the robot arm

14.

1 point

Type of joint adds one degree of freedom to a robot's manipulator, allowing one of the two connected segments to be "translated"(moved in a straight line without changing its orientation) in a particular direction relative to the other.

Prismatic joint

Revolute joint

Long joint

Lock joint

15.

1 point

If a robot can alter its own trajectory in reponse to external conditions, it is considered to be:

intelligent

non-servo

open loop

mobile

None ot the mentioned

16.

1 point

Graphics generally convert

Data->Image

Image->Image

Data->Interpretation

Image->Data

17.

1 point

Type of robot repeats a fixed sequence of actions without needing to be controlled by an operator

Playback robot

Numerical control robot

Intelligent robot

Fixed sequence robot

18.

1 point

In LISP, the function returns t if isa CONS cell and nill otherwise:

(cons)

(consp)

(eq)

(cous=)

None of the above

19.

1 point

Lagrangian function can be described as

Gravitational force g-potential energy P

kinetic energy K-mass m

Base coordinate - Tool coordinate

kinetic energy K-potential energy P

20.

1 point

Type of joint adds one degree of freedom to a manipulator, allowing one of the two connected segments to rotate relative to the other.

Moving joint

Prismatic joint

Revolute joint

Link joint

21.

1 point

The control problem consists of:

a) (1) obtaining kinematics models of the manipulator and (2) using these models to determine control laws or strategies to achieve the desired system response and performance.

b) (1) obtaining dynamic models of the manipulator and (2) using these models to determine control laws or strategies to achieve the desired system response and performance.

22.

1 point

The position-dependent parameters such as the joint angles and displacement are called

Geometric parameter

Link parameter

Joint parameter

Non-geometric parameter

23.

1 point

The Motion Equations of a Manipulator has the components of-

the mass-related term, the velocity-related term and the gravity term

the dynamic related term, the kinematics related term and the gravity term

the force related term, the velocity related term and the gravity term

the acceleration-related term, the kinematics-related term and the gravity term

24.

1 point

τ(t)=D(q(t))q(t)+h(q(t),q(t))+c(q(t)) this equation represent the:

Acceleration Equations of a Manipulator

Force Equations of a Manipulator

Trajectory Equations of a Manipulator

Motion Equations of a Manipulator

25.

1 point

Which of the following IS NOT one of the advantages associated with a robotics implementation program?

Reduced company cost for worker fringe benefits

Low costs for hardware and software

Higher volume output of manufactured products

Quality of manufactured goods can be improved.

Robots work continuously around the clock.

26.

1 point

One of the leading American robotics centers is the Robotics Institute located at:

MIT

CMU

RAND

SRI

None of the mentioned

27.

1 point

Which of the following statements concerning implementation of robotic systems is correct?

implementation of robots CAN save existing jobs

implementation of robots CAN create new jobs

robotics could prevent a business from closing

all of the mentioned

Only B and C are possible

28.

1 point

A image has 8 bit per pixel, what is the grey values?

2 grey values

8 grey values

512 grey values

256 grey values

29.

1 point

In this equation (img: L(q,q)=K(q,q)-P(q) ), P is representing:

Total kinetic energy of the robot arm

Generalized coordinates of the robot arm

Total potential energy of the robot arm

First time derivative of the generalized coordinate

30.

1 point

Basic homogeneous rotation matrices n, s, a, p. What a stands for?

sliding vector of the hand

normal vector of the hand

approach vector of the hand

position vector of the hand

31.

1 point

What is name of this symbol (qi) in the D-H representation?

Link Distance

Link Twist

Link Length

Link Angle

32.

1 point

What DOF mean?

Degree of Freedom

Degree of Force

Do of Force

Doing of Force

33.

1 point

Which of the following terms refers to the left-right movement of a robot arm?

roll

yaw

pitch

vertical

34.

1 point

Type of robot is first guided through a sequence of actions by an operator, then repeats the same actions automatically

Playback robot

Numerical control robot

Fixed sequence robot

Intelligent robot

35.

1 point

d and σ known as the ____ translation and differential rotation vectors

Cross

Direct

Differential

Integral

36.

1 point

Which of the following “laws” is Azimov’s first and most important law of robotics?

robot actions must never result in damage to the robot

robots must follow the directions given by humans

robots must never take actions harmful to humans

robots must make business a greater profit

robots should be used to eliminate jobs of human workers

37.

1 point

L = [ (1/2)ms^t + (1/2) ω^TI ω] + [(Sum 1 to n) m_ig(⁰A_iⁱr_i)]

Integration function

Lagrangian function

Newton's function

Summation function

38.

1 point

The D-H representation of a rigit link depends on four geometric parameters associated with link (qi,di,ai,@i). Where qi stands for-?

the joint angle from the xi-1 axis to the xi axis about the zi-1 axis (using the right-hand rule).

the offset angle from the zi-1 axis to the zi axis about the xi axis

is the offset distance from the intersection of the zi-1 axis with the xi axis to the origin of the ith frame along the xi axis.

the distance from the origin of the (i-1)th coordinate frame to the intersection of the zi-1 axis with the xi axis along the zi-1 axis

39.

1 point

This is the tool that is located at the end of the manipulator

Link

End effector

Joint

Arm

40.

1 point

P_i=-m_ig⁰r_i=-m_ig(⁰A_iⁱr_i) I=1,2,.....,n where P_i is:

Progressive energy

Pointing energy

Purposeful energy

Potential energy

41.

1 point

In a rule-based system, procedural domain knowladge is in the form of:

None of the mentioned

rule interpreters

meta-rules

production rules

control rules

42.

1 point

The coordinate systems described are:

World, Base and Mechanical Interface (tool) coordinate systems

World, joint and Mechanical Interface (tool) coordinate systems

World, Base and space coordinate systems

Link, Base and Mechanical Interface (tool) coordinate systems

43.

1 point

cosO_-sinO__0
sinO__cosO__0 is the rotation matrix of:
0_____0____1

R_x,O*R_r,O

R_z,O

R_y,O

R_x,O

44.

1 point

Which of the following terms refers to the use of compressed gasses to drive (power) the robot device?

pneumatic

photo sensitive

piezo electric

electric

hydraulic

45.

1 point

Which of the following statements concerning implementation of robotic systems is correct? Select the BEST answer

implementation of robots CAN save existing jobs

robotics cloud prevent a business from closing

implementation of robots CAN create new jobs

all of the above are possible (correct answer, your reponse)

46.

1 point

Type of robot is similar to class 2, except that the sequence of actions can be re programmed easily allowing it to be quickly adapted to perform new tasks

Numerical control robot

Playback robot

Variable sequence robot

Fixed sequence robot

Intelligent robot

47.

1 point

A robot using control inputs to predict position estimates is moving in the negative y direction in a global coordinate frame. With respect to the variance in its final position estimate, it will have:

None of the above

Least variance in the direction orthogonal to its motion

Greatest variance in the y direction

Equal variance in the x and y directions

48.

1 point

Which of the following terms IS NOT one of the five basic parts of a robot?

sensor

end effector

peripheral tools

controller

49.

1 point

With regard to the physics of power systems used operate robots, which statement or statements is most correct?

chemical batteries produce AC power

hydraulics involves the compression of liquids

hydraulics involves the compression of air

All of the mentioned are basic principles of physics

pneumatics involve the compression of air

50.

1 point

Robots are changing the nature of manufacturing system

TRUE

FALSE