Final ExamFinal ExamFinal ExamFinal ExamFinal ExamFinal ExamFinal ExamFinal ExamFinal ExamFinal ExamFinal ExamFinal Exam10/27/2020

Midterm ROB-GY6003

Midterm ROB-GY6003

* Required

1.

Email address *

2.

Name *

3.

NYU ID *

4.

email *

Quiz questions

Only one answer per question is correct

5.

For each rotation matrix R there exists only one quaternion *

Mark only one oval.

True

False

Only during rotation around the x axis

https://docs.google.com/forms/d/16-PQu4Us-2NK2eYu_5eY9ZEPU6w_KrJva3LIvCO_zE8/edit

1/7

10/27/2020

6.

Midterm ROB-GY6003

Which one of these sentences is correct, only one is correct *

Mark only one oval.

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 *

Mark only one oval.

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 *

Mark only one oval.

XYZ

ZYZ

YZY

https://docs.google.com/forms/d/16-PQu4Us-2NK2eYu_5eY9ZEPU6w_KrJva3LIvCO_zE8/edit

2/7

10/27/2020

9.

Midterm ROB-GY6003

The analytic jacobian and the gemeotric jacobian are equal for the translational

motion part *

Mark only one oval.

False

True

Only for a SCARA manipulator

10.

The derivative of a rotation matrix is *

Mark only one oval.

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 *

Mark only one oval.

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 *

Mark only one oval.

The normal between axes them is not uniquely defined

The normal between them does not exist

The normal between them is unique

https://docs.google.com/forms/d/16-PQu4Us-2NK2eYu_5eY9ZEPU6w_KrJva3LIvCO_zE8/edit

3/7

10/27/2020

13.

Midterm ROB-GY6003

The columns of rotation matrix *

Mark only one oval.

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 *

Mark only one oval.

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 *

Mark only one oval.

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 *

Mark only one oval.

Provide dexterity and versatility to the robot

Decreases its motion abilities

None of the above

https://docs.google.com/forms/d/16-PQu4Us-2NK2eYu_5eY9ZEPU6w_KrJva3LIvCO_zE8/edit

4/7

10/27/2020

17.

Midterm ROB-GY6003

Boundary singularities *

Mark only one oval.

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 *

Mark only one oval.

1

0

3

4

2

19.

A prismatic joint always gives *

Mark only one oval.

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

https://docs.google.com/forms/d/16-PQu4Us-2NK2eYu_5eY9ZEPU6w_KrJva3LIvCO_zE8/edit

5/7

10/27/2020

20.

Midterm ROB-GY6003

A manipulability ellipsoid is useful to *

Mark only one oval.

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 *

Mark only one oval.

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 *

Mark only one oval.

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 *

Mark only one oval.

The Euler angles

The axis angle

None of the above

https://docs.google.com/forms/d/16-PQu4Us-2NK2eYu_5eY9ZEPU6w_KrJva3LIvCO_zE8/edit

6/7

10/27/2020

24.

Midterm ROB-GY6003

The integral of the Euler angles derivative over times give *

Mark only one oval.

The Euler angles

Tha angular velocity

The rotation matrix

The axis angle

None of the above

This content is neither created nor endorsed by Google.

Forms

https://docs.google.com/forms/d/16-PQu4Us-2NK2eYu_5eY9ZEPU6w_KrJva3LIvCO_zE8/edit

7/7

Purchase answer to see full

attachment

#### Why Choose Us

- 100% non-plagiarized Papers
- 24/7 /365 Service Available
- Affordable Prices
- Any Paper, Urgency, and Subject
- Will complete your papers in 6 hours
- On-time Delivery
- Money-back and Privacy guarantees
- Unlimited Amendments upon request
- Satisfaction guarantee

#### How it Works

- Click on the “Place Order” tab at the top menu or “Order Now” icon at the bottom and a new page will appear with an order form to be filled.
- Fill in your paper’s requirements in the "
**PAPER DETAILS**" section. - Fill in your paper’s academic level, deadline, and the required number of pages from the drop-down menus.
- Click “
**CREATE ACCOUNT & SIGN IN**” to enter your registration details and get an account with us for record-keeping and then, click on “PROCEED TO CHECKOUT” at the bottom of the page. - From there, the payment sections will show, follow the guided payment process and your order will be available for our writing team to work on it.