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Midterm ROB-GY6003
Midterm ROB-GY6003
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Quiz questions
Only one answer per question is correct
5.
For each rotation matrix R there exists only one quaternion *
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True
False
Only during rotation around the x axis
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6.
Midterm ROB-GY6003
Which one of these sentences is correct, only one is correct *
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Given a rotation matrix I always find a valid set of ZYZ Euler angles
The quaternion q and -q represent the same orientation
The axis angle with 4 parameters is a minimal representation of the rigid body
orientation
The Euler angles defined with respect to a current frame always give the same results if
the rotations are performed with respect to the fixed frame keeping the original order of
rotation
A Rotation matrix is minimal parametrization of the orientation
7.
The inverse of an homogeneous transformation is *
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Equal to its transpose
Equal to its transpose only for the rotatational part
A 3 by 3 matrix
A matrix with all 1 on the last row
Does not depend on the placement of the frames
8.
Given a rotation ZYX in the current frame, considering fixed frames the
corresponding rotation is *
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XYZ
ZYZ
YZY
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9.
Midterm ROB-GY6003
The analytic jacobian and the gemeotric jacobian are equal for the translational
motion part *
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False
True
Only for a SCARA manipulator
10.
The derivative of a rotation matrix is *
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The rotation matrix itself
The rotation matrix multiplied by a skew symmetric matrix
The produce of two rotation matrices
11.
The role of the inverse kinematic is *
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To compute the end effector position and orientation given the joint variables
To compute the joint variables given the end-effector position and orientation
Compute the linear and angular velocities at the end-effector
12.
Considering the Denavit-Hartenberg convention, if two consecutive axes are
parallel the link frame is not uniquely defined because *
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The normal between axes them is not uniquely defined
The normal between them does not exist
The normal between them is unique
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13.
Midterm ROB-GY6003
The columns of rotation matrix *
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Are parallel
Are orthogonal
Column 1 and 2 are orthogonal and 2 and 3 parallel
14.
The inverse kinematic algorithm based on the transpose of the Jacobian is *
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Computationally more efficient compared to the algorithm based on the inverse
Jacobian since we do not need to invert the Jacobian matrix
Computationally the same to the algorithm based on the inverse Jacobian
None of the above
15.
Given a 4 joints manipulator *
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We can assign a 6 Degrees of Freedom operational space task in terms of translation
and rotation
We can assign up to 4 operational space variables
We cannot assign any task at the end-effector
16.
Redundancy in a manipulator *
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Provide dexterity and versatility to the robot
Decreases its motion abilities
None of the above
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17.
Midterm ROB-GY6003
Boundary singularities *
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Occurs at the limit of the robots’ workspace
Inside the reachable robots’ workspace
They occur when the robots are static
18.
Given a 4×4 full rank Jacobian the null space dimension is *
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1
0
3
4
2
19.
A prismatic joint always gives *
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A null angular velocity contribution to the end-effector
A null linear velocity contribution to the end-effector
A null linear and angular velocity to the end-effector
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20.
Midterm ROB-GY6003
A manipulability ellipsoid is useful to *
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Identify the Jacobian null space
Identify the singularities of a manipulator
Evaluate the manipulator’s ability to execute a given task from the current
configuration
21.
A second order inverse kinematic algorithm *
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Allows to define a desired operational space acceleration in addition to position and
velocity
Allows to define only a desired operational space velocity in addition to position
None of the above
22.
Consider a manipulator with 6 joints. In order to obtain the ability to choose the
position and orientation of the end-effector *
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The joints need to be properly distributed with respect to each other
A random distribution always works
We will place all of them considering parallel axes with respect to each other
23.
The integral of the angular velocity corresponds to *
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The Euler angles
The axis angle
None of the above
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24.
Midterm ROB-GY6003
The integral of the Euler angles derivative over times give *
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The Euler angles
Tha angular velocity
The rotation matrix
The axis angle
None of the above
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