Test
DONE BY HOFFA PART 2
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Preguntas del test (50)
151. The output of the inverse kinematics are
- AJoint force
- BJoint angles
- CAngular momentum
- DJoint velocity
252. The Homogeneous Transformation Matrices consists of
- AVelocity and Rotation Matrices
- BAcceleration and Rotation coordinates
- CPosition Vector and Rotation Matrices
- DPosition Vector and base Matrices
353. The concept of a homogeneous-coordinate representation of points in a three-dimensional euclidean space is useful in developing matrix transformations that include -
- ARotation, translation, scaling, and perspective transformation
- BRotation, translation, position, and perspective transformation
- CRotation, translation, scaling, and orientation transformation
- DBase, translation, scaling, and perspective transformation
454. Basic homogeneous rotation matrices n, s, a, p. What n stands for?
- Anormal vector of the hand.
- Bposition vector of the hand
- Csliding vector of the hand.
- Dapproach vector of the hand.
555. Basic homogeneous rotation matrices n, s, a, p. What s stands for?
- Anormal vector of the hand.
- Bposition vector of the hand
- Csliding vector of the hand.
- Dapproach vector of the hand.
656. Basic homogeneous rotation matrices n, s, a, p. What a stands for?
- Anormal vector of the hand.
- Bposition vector of the hand.
- Csliding vector of the hand.
- Dapproach vector of the hand.
757. Basic homogeneous rotation matrices n, s, a, p. What p stands for?
- Anormal vector of the hand.
- Bposition vector of the hand.
- Csliding vector of the hand.
- Dapproach vector of the hand
858. The D-H representation of a rigid link depends on four geometric parameters associated with each link (qi, di, ai, αi). Where qi stands for -
- Athe joint angle from the xi-1 axis to the xi axis about the zi-1 axis (using the right-hand rule).
- Bthe 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.
- Cis 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.
- Dthe offset angle from the zi-1 axis to the zi axis about the xi axis.
959. The D-H representation of a rigid link depends on four geometric parameters associated with each link (qi, di, ai, αi). Where di stands for -
- Athe joint angle from the xi-1 axis to the xi axis about the zi-1 axis (using the right-hand rule).
- Bthe 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.
- Cis 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.
- Dthe offset angle from the zi-1 axis to the zi axis about the xi axis.
1060. The D-H representation of a rigid link depends on four geometric parameters associated with each link (qi, di, ai, αi). Where ai stands for -
- Athe joint angle from the xi-1 axis to the xi axis about the zi-1 axis (using the right-hand rule).
- Bthe 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.
- Cis 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.
- Dthe offset angle from the zi-1 axis to the zi axis about the xi axis
1161. The D-H representation of a rigid link depends on four geometric parameters associated with each link (qi, di, ai, αi). Where αi stands for -
- Athe joint angle from the xi-1 axis to the xi axis about the zi-1 axis (using the right-hand rule).
- Bthe 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.
- Cis 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.
- Dthe offset angle from the zi-1 axis to the zi axis about the xi axis.
1262. Sequential steps to derive kinematics model is -
- AAssign position coordinates frames, Find link parameters, Transformation matrices of adjacent joints and Calculate Kinematics Matrix.
- BAssign the rotation and position matrixes, Find link parameters, Transformation matrices of adjacent joints and Calculate Kinematics Matrix
- CAssign D-H coordinates frames, Find link parameters, Transformation matrices of adjacent joints and Calculate Kinematics Matrix.
- DAssign rotational coordinates frames, Find link parameters, Transformation matrices of adjacent joints and Calculate Kinematics Matrix.
1363. Puma 560 is a –
- ARobot controller name
- BA robot name
- CA tool name
- DA robot operation name.
1464. To solve the joint variables which can bring the robot to the desired configuration, we have to use -
- AControl algorithms
- BL-E model of dynamics
- CInverse Kinematics
- DForward Kinematics
1565. Rotation matrix representation needs how many elements to completely describe the orientation of a rotating rigid body?
- A6
- B9
- C3
- D0
1666. Robot arm dynamics deals with the -
- Amathematical formulations of the equations of robot arm position.
- Bmathematical formulations of the equations of robot arm velocity
- Cmathematical formulations of the equations of robot arm motion.
- Dmathematical formulations of the equations of robot arm acceleration.
1767. Which formulations were used to the robot arm dynamic problem?
- ALagrange-Euler and D-H formulations
- BD-D and Dynamic formulations
- CLagrange-Euler and Kinematics formulations
- DLagrange-Euler and Newton-Euler formulations
1868. Lagrangian function can be described as
- Akinetic energy K - mass m
- Bkinetic energy K - potential energy P
- CGravitational force g - potential energy P
- DBase coordinate – Tool coordinate
1969. Kinetic Energy is a
- AScalar quantity
- BVector quantity
- CDynamic quantity
- DStatic quantity
2070. The Motion Equations of a Manipulator has the components of –
- Athe dynamic-related term, the kinematics-related term and the gravity term.
- Bthe force-related term, the velocity-related term and the gravity term
- Cthe mass-related term, the velocity-related term and the gravity term.
- Dthe acceleration-related term, the velocity-related term and the gravity term.
2171. The Newton-Euler formulation is based on the -
- Alaws governing the dynamics of rigid bodies
- Blaws governing the kinematics of rigid bodies
- Claws governing the dynamics of moving bodies.
- Dlaws governing the dynamics of controlled bodies
2272. Trajectory Planning has two main issues –
- Asatisfies motion constraints, and satisfies manipulator dynamics constraints.
- Bsatisfies path constraints, and satisfies manipulator dynamics constraints.
- Csatisfies kinematics constraints, and satisfies manipulator dynamics constraints.
- Dsatisfies path constraints, and satisfies manipulator kinematics constraints.
2373. Trajectory planning schemes generally has –
- AKinematics structure
- BDynamic information
- CTask specification
- DInterpolate points (knot points
2474. There are mainly two types of trajectory generation –
- Ajoint trajectory and kinematics trajectory
- Bcontrol trajectory and Cartesian path trajectory
- Cjoint trajectory and Cartesian path trajectory
- Djoint trajectory and dynamic path trajectory
2575. In the Joint-Interpolated Trajectory, there are four positions for each arm motion are:
- Ainitial, set-down, lift-off and final position
- Binitial, lift-off, set-down, and final position
- Cinitial, set-down, lift-off, and complete position
- Dinitial, lift-off, final, and set-down position
2676. The most common methods for trajectory planning are:
- A3-4-3 Trajectory, 3-5-3 Trajectory and 3-Cubic Trajectory
- B4-3-4 Trajectory, 4-5-4 Trajectory and 5-Cubic Trajectory
- C4-3-4 Trajectory, 5-5-5 Trajectory and 5-Cubic Trajectory
- D4-3-4 Trajectory, 3-5-3 Trajectory and 5-Cubic Trajectory
2777. 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 dynamics laws or strategies to achieve the desired system response and performance.
- C(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.
- D(1) obtaining trajectory models of the manipulator and (2) using these models to determine control laws or strategies to achieve the desired system response and performance.
2878. The movement of a robot arm is usually performed in two distinct control phases
- Agross motion and fine motion
- Bgross motion and velocity
- Cgross motion
- Dfine motion
2979. Four Major robot control categories are:
- AComputed Torque Techniques, Resolved Motion Control, Adaptive Control, Future Trends in Robot Control
- BJoint Motion Control, Resolved Motion Control, Adaptive Control, Future Trends in Robot Control
- CJoint Motion Control, Resolved Motion Control, Model Reference Adaptive Control, Future Trends in Robot Control
- DJoint Motion Control, Resolved Motion Control, Adaptive Control, kinematics Control
3080. Joint Motion Control algorithm can be categories as:
- AComputed Torque Techniques, Minimum-time Control, Variable Structure Control, Nonlinear Decoupled Feedback Control
- BComputed Torque Techniques, Minimum-time Control, Variable Structure Control, Self-tuning Adaptive Control
- CComputed Torque Techniques, Minimum-time Control, Neural-Network-Based Control, Nonlinear Decoupled Feedback Control
- DResolved Motion Force Control, Minimum-time Control, Variable Structure Control, Nonlinear Decoupled Feedback Control
3181. Resolved Motion Control algorithm can be categories as:
- AResolved Motion Rate Control, Minimum-time Control and Resolved Motion
- BForce Control Variable Structure Control, Resolved Motion Acceleration Control and Resolved Motion Force Control
- CResolved Motion Rate Control, Nonlinear Decoupled Feedback Control and Resolved Motion Force Control
- DResolved Motion Rate Control, Resolved Motion Acceleration Control and Resolved Motion Force Control
3282. Adaptive Control algorithm can be categories as:
- AModel Reference Adaptive Control, Nonlinear Decoupled Feedback Control, Adaptive Perturbation Control and Resolved Motion Adaptive Control
- BNonlinear Decoupled Feedback Control, Self-tuning Adaptive Control, Adaptive Perturbation Control and Resolved Motion Adaptive Control
- CModel Reference Adaptive Control, Resolved Motion Rate Control, Adaptive Perturbation Control and Resolved Motion Adaptive Control
- DModel Reference Adaptive Control, Self-tuning Adaptive Control, Adaptive Perturbation Control and Resolved Motion Adaptive Control
3383. Mechatronics is the science that:
- AIntegrates mechanical devices with electronics control.
- BIntegrates mechanical devices with kinematics control.
- CIntegrates dynamic control with kinematics control.
- DIntegrates mechanical devices with motors control.
3484. What is A/D stands for?
- AAnalog to Driver
- BAnalog to Digital
- CAmplifier to Devices
- DAnalog Documentation
3585. Robot Vision must be:
- APerfect, Low-cost and Robust.
- BComputationally fast, Low-cost and Robust.
- CComputationally fast, processing and Robust.
- DComputationally fast, Low-cost and systematic.
3686. Spatial-Domain Methods of Image processing involving:
- AThe neighborhood pixels
- BThe straight line pixels
- CThe circle pixels
- DThe cross pixels
3787. Sensors can be divided into two basic classes:
- AOut state sensors, in state sensors
- BDecoder state sensors, encoder state sensors
- COptical state sensors, vision state sensors
- DInternal state sensors, external state sensors
3888. The Optical Encoders are two types:
- Aabsolute and incremental
- BContact and noncontact
- CClose and far
- DVision and infrared
3989. What is the device name that can - produce an analog voltage that increases (or decreases) with increasing (or decreasing) shaft angular velocity?
- ADC Tachometers
- BPotentiometer
- CAccelerometer
- DOpt isolator
4090. The Strain Gages Force Sensors are used for?
- APresser
- BHumidity
- CTemperature
- DVelocity
4191. The types of evaluation criteria for sensors are:
- ASensitivity, Linearity, Range, Response time
- BAccuracy, Repeatability, Resolution, Type of output, Physical consideration
- CAll of the above
- DNone of the above
4292. What kinds of programs can be tested and evaluated using simulation techniques?
- AOff-line programing
- BOn-line programing
- CReference programing
- DRobot Operating Systems (ROS)
4393. How to use the robot to generate it’s program?
- AUsing vision system
- BUsing teach pendant
- CUsing touch sensor
- DUsing kinematics model
4494. _ _ is the defining of desired motions so that the robot may perform them without human intervention.
- ARobot trajectory
- BRobot controller
- CRobot programming
- DRobot dynamics
4595. The frame reference that fixed to the robot and should not move is
- ATool frame
- BWorld coordinate
- CBase coordinate
- DReference frame
4696. The three robot programming techniques are
- ADynamic level, kinematics level and joint level programming
- BJoint level, Robot level and High level programming
- CTrajectory level, joint level and world level programming
- DComponent level, low level and high level programming
4797. What are the constraints in trajectory planning?
- APath constraints and manipulator’s dynamics constraints
- BKinematics constraints and manipulator’s dynamics constraints
- CForce constraints and manipulator’s dynamics constraints
- DKinematics constraints and manipulator’s configuration constraints
4898. Type of robot has multiple degrees of freedom, but all of its actions are performed under the direct control of an operator.
- AIntelligent robot
- BManual handling device
- CFixed sequence robot
- DPlayback robot
4999. Type of robot repeats a fixed sequence of actions without needing to be controlled by an operator.
- AIntelligent robot
- BFixed sequence robot
- CPlayback robot
- DNumerical control robot
50100. Type of robot is similar to class 2, except that the sequence of actions can be reprogrammed easily allowing it to be quickly adapted to perform new tasks.
- APlayback robot
- BIntelligent robot
- CVariable sequence robot
- DFixed sequence robot
Información
- Descripción
- Test sobre DONE BY HOFFA PART 2, creado por hoffa HOFFMAN el 08/06/2019.
- Autor
- hoffa HOFFMAN
- Idioma
- English
- Visitas
- 62
- Valoración
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