Test
roboticsFinal
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Preguntas del test (193)
1What is the name for information sent from robot sensors to robot controllers?
- Atemperature
- Bpressure
- Cfeedback
- Dsignal
2Which one of the following terms refers to the up - down motion of a robot arm?
- Ayaw
- Bpitch
- Croll
- Delevate
3Which of the following terms refers to the left - right movement of a robot arm?
- Ayaw
- Bvertical
- Cpitch
- Droll
4Which of the following terms refers to the rotational motion of a robot arm?
- Aswivel
- Baxle
- Croll
- Dyaw
5Which of the following is a device that receive information from an input device and changes the output if required?
- AMicroprocessor
- BActuator
- CController
- DSending device
6The 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.
7The 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
8What is the name for the space inside which a robot unit operates?
- Aenvironment
- Bspatial base
- Cexclusion zone
- Dwork envelop
9Which of the following is the most common type of actuator?
- AElectric motor
- BStepper motor
- CSolenoid
- DHydraulic pump
10Sequential 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.
11Which of the following terms IS NOT one of the five basic parts of a robot?
- Aperipheral tools
- Bend effector
- Ccontroller
- Dsensor
12What kinds of programs can be tested and evaluated using simulation techniques?
- AOff-line programing
- BOn-line programing
- CReference programing
- DRobot Operating Systems (ROS)
13Puma 560 is a –
- ARobot controller name
- BA robot name
- CA tool name
- DA robot operation name
14What DOF mean?
- ADo of Force
- BDegree of Freedom
- CDoing of Force
- DDegree of Force
15To 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
16The number of moveable joints in the base, the arm, and the end effector of the robot determines ...............
- Adegrees of freedom
- Bpayload capacity
- Cflexibility
- Dcost
17Automated systems use automated control to perform a task.
- ATrue
- BFalse
18______ deals with techniques an image into object of interest.
- Asensing
- Bpreprocessing
- Csegmentation
- Drecognition
19Rotation matrix representation needs how many elements to completely describe the orientation of a rotating rigid body?
- A6
- B9
- C3
- D0
20 Which of the following places would be LEAST likely to include operational robots?
- Awarehouse
- Bfactory
- Chospitals
- Dprivate homes
21General robotics arms have seven degrees of freedom.
- ATrue
- BFalse
22______ deals with the computation of features (e.g., size, shape)suitable for differentiating one type of object from another.
- Apreprocessing
- Bdescription
- Crecognition
- Dinterpretation
23For a robot unit to be considered a functional industrial robot, typically, how many degrees of freedom would the robot have?
- Athree
- Bfour
- Csix
- Deight
24How to use the robot to generate it’s program?
- AUsing vision system
- BUsing teach pendant
- CUsing touch sensor
- DUsing kinematics model
25 Which of the basic parts of a robot unit would include the computer circuitry that could be programmed to determine what the robot would do?
- Asensor
- Bcontroller
- Carm
- Dend effector
26What is the third laws of robot’s by science fiction author Isaac Asimov?
- AA robot cannot destroy itself.
- BRobot can work independently.
- CRobot can see the object.
- DRobot must have legs.
27________ is the process that identifies the objects.
- Asensing
- Bpreprocessing
- Csegmentation
- Drecognition
28 The Basic Components of a Robotic System are.
- AController and Mechanical robot arm
- BController and sensors
- CRobot arm and camera
- DRobot arm and gripper
29_ _ is the defining of desired motions so that the robot may perform them without human intervention.
- ARobot trajectory
- BRobot controller
- CRobot programming
- DRobot dynamics
30Interpretation assigns meaning to an ensemble of recognized
- Apreprocessing
- Bsegmentation
- Crecognition
- Dinterpretation
31 Which of the following terms refers to the use of compressed gasses to drive (power) the robot device?
- Apneumatic
- Bhydraulic
- Cphoto sensitive
- Delectric
32 Robots are changing the nature of manufacturing system.
- ATrue
- BFalse
33The camera calibration is based on the assumption that the camera and world coordinate systems are coincident.
- ATrue
- BFalse
34Robot 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
35The frame reference that fixed to the robot and should not move is
- ATool frame
- BWorld coordinate
- CBase coordinate
- DReference frame
36 With regard to the physics of power systems used operate robots, which statement or statements is most correct?
- Ahydraulics involves the compression of liquids
- Bhydraulics involves the compression of air
- Cpneumatics involve the compression of air
- DAll of the above are basic principles of physics.
37 Mechanically, a robot is composed of
- AArm, wrist and tool
- BTool, wrist and controller
- CSensor, arm and tool
- DDevice, wrist and tool
38Any image, can be classified into four categories as:
- Adiffuse-lighting, back-lighting, structure-lighting and directional lighting
- Bdiffuse-lighting, sun-lighting, structure-lighting and reflected lighting
- Ccomposite-lighting, back-lighting, structure-lighting and directional lighting
- DHomogeneous-lighting , back-lighting, structure-lighting and directional lighting
39Which of the following statements concerning implementation of robotic systems is correct? Select the BEST answer.
*- Aimplementation of robots CAN save existing jobs
- Bimplementation of robots CAN create new jobs
- Crobotics could prevent a business from closing
- Dall of the above are possible (correct answer, your response)
40Six different lower-pair joints possible are
- Arevolute (rotary), prismatic (sliding), cylindrical, spherical, linear, and planar.
- Brevolute (rotary), prismatic (sliding), cylindrical, spherical, screw, and planar.
- Cposition, prismatic (sliding), cylindrical, spherical, screw, and planar.
- Drevolute (rotary), prismatic (sliding), cylindrical, spherical, screw, and 3D.
41What are the common joints for the manipulator?
- Arotary and roll
- Brotary and prismatic
- Cyaw and prismatic
- Drotary and DOF
42Which of the following IS NOT one of the advantages associated with a robotics implementation program?
- ALow costs for hardware and software
- BRobots work continuously around the clock.
- CQuality of manufactured goods can be improved.
- DReduced company cost for worker fringe benefits
43Two different methods are commonly used for camera modelling are:
- Athe picture method and the two planes model
- Bthe one planer method and the two planes model
- Cthe pinhole method and the two planes model
- Dthe pinhole method and the 2D planes model
44In most general instances, robot kinematics model contains of
- Ageometric and mechanical parameters
- Bmachine and non-geometric parameters
- Cgeometric and non-geometric parameters
- Dgeometric and non-algebraic parameters
45Which of the following "laws" is Azimov's first and most important law of robotics?
- Arobot actions must never result in damage to the robot
- Brobots must never take actions harmful to humans
- Crobots must make business a greater profit
- Drobots should be used to eliminate jobs of human workers
46The basic robot configuration of Cartesian Coordinates has
- ASix Linear Axes
- BNo Linear Axes
- CDOF Linear Axes
- DThree Linear Axes
47There are two coordinates are involve in camera modeling are:
- ACartesian coordinate and space coordinate
- B3D coordinate and 2D coordinate
- CCartesian coordinate and camera coordinate
- DImage coordinate and camera coordinate
48 Behavior based navigation is better than planning based navigation in some situations because:
- AIt uses a world model
- BBehaviors cannot be fused through competitive coordination schemes
- CIt navigates by planning a path around obstacles.
- DNone of the above
49The 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
50 In general, a locomotion system can possibly have
- AGood stability and Good controllability and Good maneuverability
- BGood controllability and Good maneuverability
- CGood stability and Good controllability
- DNone of the above
51The basic robot configuration of Cylindrical Coordinates has
- AThree Linear, One Rotary
- BTwo Linear, One Rotary
- COne Linear, One Rotary
- DThree Linear, Three Rotary
52What 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
53The sequential nature of robot arms is used to generate the ______ ______ models.
- Aparallel kinematics
- Bserial kinematics
- Ckinematics system
- Dsource kinematics
54 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:
- AGreatest variance in the y direction
- BEqual variance in the x and y directions
- CLeast variance in the direction orthogonal to its motion
- DNone of the above
55The basic robot configuration of Spherical Coordinates has
- ATwo Linear, Two Rotary
- BSix Linear, Two Rotary
- COne Linear, Two Rotary
- DThree Linear, Three Rotary
56Wrist determines orientation namely:
- ARoll, Pitch, and Yaw
- BPosition, orientation, and kinematics
- CRoll, Pitch, and revolute
- DX-axis, Y-axis, and z-axis
57 In order to follow a delayed sequence of set movements, without direct user control, a robot must be _____
- Acontrolled
- Bcontrolled by a remote.
- Ccomputerized.
- Dprogrammed.
58The basic robot configuration of Revolute or Articulated has
- ASix Rotary
- BTwo Rotary
- COne Rotary
- DThree Rotary
59In most general instances, robot kinematics model contains both ________ and - _______ parameters.
- Ageometric and trigonometric
- BGeneral and complex
- CArm Length and twist
- Dgeometric and non-geometric
60A programming “loop” does which of the following?
- AStarts the program code
- BStops the program code
- CPerforms multiple functions
- DRepeats a section of program code
61The position-dependent parameters such as the joint angles and displacement are called:
- AGeometric parameter
- BNon-geometric parameter
- CLink parameter
- DJoint parameter
62 Common Gripper Structure compose of
- Ajoint, pitch, yaw
- Blink, pitch, roll
- Croll, pitch, link
- Droll, pitch, yaw
63 A computer program consists of ______ that tells the computer to do something.
- Asensors
- Bcode
- Clights
- Drobots
64Type 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
65 The three coordinate systems described are
- AWorld, Base and tool coordinates.
- BX, Y and Z coordinates.
- CRoll, Pitch and Yaw coordinates.
- DWorld, Base and space coordinates.
66The position-independent parameters are the link lengths, twists, and off-sets which are geometrical and do not change as the manipulator is driven.
- AGeometric parameters
- BNon-geometric parameters
- CTwist parameters
- DD-H parameters
67 Which of the following enables a robot to investigate and react to its environment?
- ATires
- BSensors
- CLCD panels
- DMechanical arms
68There two problems are related with the robot arm kinematics are.
- ADirect kinematics and Forward kinematics
- BDirect kinematics and Inverse kinematics
- CDynamics and inverse kinematics
- DDynamics and control
69The coordinate systems described are:
- ALink, Base and Mechanical Interface (tool) coordinate systems
- BWorld, Base and Mechanical Interface (tool) coordinate systems
- CWorld, joint and Mechanical Interface (tool) coordinate systems
- DWorld, Base and space coordinate systems
70Type 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
71 What is a computer program?
- AComputer generated text
- BThe hardware that controls a computer
- CInstructions written in a language a computer understands
- DLanguage that is built into a robot
72The inputs for the direct kinematics are?
- AJoint force
- BJoint angles
- CAngular momentum
- DJoint velocity
73In kinematics the u, v, and w axis are generally referred as
- AReference coordinate
- BBody-attached coordinate
- CFrame coordinate
- DBase coordinate
74 Which of the following is a wireless connection?
- ABluetooth
- BRCX
- CUSB
- DSerial port
75Which 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
76The output of the inverse kinematics are
- AJoint force
- BJoint angles
- CAngular momentum
- DJoint velocity
77Which of the following is an automated machine that works on an assembly line?
- AIndustrial robot
- BAssembly robot
- CDomestic robot
- DAndroid
78Type 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
- ENumerical control robot
79Lagrangian 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
80 The Homogeneous Transformation Matrices consists of
- AVelocity and Rotation Matrices
- BAcceleration and Rotation coordinates
- CPosition Vector and Rotation Matrices
- DPosition Vector and base Matrices
81Which of the following is not use for robot?
- AMaintenance and repair
- BAssembly line
- CMental calculation
- DExploration
82Kinetic Energy is a
- AScalar quantity
- BVector quantity
- CDynamic quantity
- DStatic quantity
83The 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
84Type of robot is first guided through a sequence of actions by an operator, then repeats the same actions automatically.
- APlayback robot
- BFixed sequence robot
- CIntelligent robot
- DNumerical control robot
85The 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
86 Which of the following statement is incorrect?
- AAutomation is the application of machines to tasks once performed by people.
- BAutomation control devices manage themselves once given suitable instructions.
- CFeedback principle used in automation control is a recent development
- DDevelopment of automation has becomes dependent on the use of computer technology.
87Basic 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.
88The 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
89Type of robot moves through a sequence of actions, which it receives in the form of numerical data.
- ANumerical control robot
- BFixed sequence robot
- CPlayback robot
- DIntelligent robot
90Which of the following is the person who wrote the three laws of robotics?
- AKarel Capek
- BIsaac Asimov
- CJoseph-Marie Jacquard
- DRichard Hohn
91Trajectory 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
92Which of the following is an input device that measures data from the environment?
- AActuator
- BMicrocontroller
- CAutomated control
- DSensor
93Which of the following is a sensor that measures the movement of an object?
- APressure sensor
- BMotion sensor
- CAction sensor
- DTouch sensor
94A robot that senses its environment and responds to changes in it in order to continue performing its function.
- AFixed sequence robot
- BIntelligent robot
- CPlayback robot
- DNumerical control robot
95Trajectory planning schemes generally has –
- AKinematics structure
- BDynamic information
- CTask specification
- DInterpolate points (knot points)
96There 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
97This is the tool that is located at the end of the manipulator.
- AJoint
- BEnd effector
- CLink
- DArm
98The_____ ____ and ________ _____ formulations were used to the robot arm dynamic problem.
- ANewton-Lagrange and Euler
- BLagrange-Euler and Newton-Euler
- CEuler-Jone and Newton-theory 1st law and 2nd law
- D2nd derivative and the 1st derivative
99 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.
100In 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
101The 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
102The 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
103The movement of a robot arm is usually performed in two distinct control phases
- Agross motion and fine motion
- Bgross motion and velocity
- Cgross motion and fine motion ХЗ ТАК В ДОКЕ
- Dgross motion and fine motion ХЗ ТАК В ДОКЕ
104Basic 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.
105Four 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
106Joint 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
107 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.
108This is an element that is designed to turn some kind of energy into mechanical force or movement.
- AVision system
- BActuator
- CArm length
- DTwist
109Resolved 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
110The device provide a robot with information about its own internal state and about its environment.
- ASensor
- BActuator
- CEnd effector
- DJoint angles
111Adaptive 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
112The 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.
113Mechatronics 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
114Type 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.
- ALong joint
- BPrismatic joint
- CRevolute joint
- DLock joint
115What is A/D stands for?
- AAnalog to Driver
- BAnalog to Digital
- CAmplifier to Devices
- DAnalog Documentation
116Type of joint adds one degree of freedom to a manipulator, allowing one of the two connected segments to rotate relative to the other.
- APrismatic joint
- BRevolute joint
- CLink joint
- DMoving joint
117Robot 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.
118Spatial-Domain Methods of Image processing involving:
- AThe neighborhood pixels
- BThe straight line pixels
- CThe circle pixels
- DThe cross pixels
119The set of all points the robot can reach is
- AWorkspace
- BPayload
- CRepeatability
- DPrecision
120How many geometric parameters are associated with the D-H representation of a rigid link?
- AThree geometric parameters
- BFour geometric parameters
- CFive geometric parameters
- DSix geometric parameters
121Sensors 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
122The Optical Encoders are two types
- Aabsolute and incremental
- BContact and noncontact
- CClose and far
- DVision and infrared
123What is name of this symbol (ai) in the D-H representation?
- ALink Length
- BLink Twist
- CLink Angle
- DLink Distance
124What 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
125The 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.
126What is name of this symbol (αi) in the D-H representation?
- ALink Length
- BLink Twist
- CLink Angle
- DLink Distance
127The Strain Gages Force Sensors are used for?
- APresser
- BHumidity
- CTemperature
- DVelocity
128The 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.
129What is name of this symbol (qi) in the D-H representation?
- ALink Length
- BLink Twist
- CLink Angle
- DLink Distance
130The 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
131What is name of this symbol (di) in the D-H representation?
- ALink Length
- BLink Twist
- CLink Angle
- DLink Distance
132this is used for the manipulator's_____
- AKinematics
- BControl
- CSystem
- Ddynamic
133The maximum weight that robot can carry is
- AWorkspace
- BPayload
- CRepeatability
- DPrecision
134Accurately the end effector can be positioned at the same point many times is
- AWorkspace
- BPayload
- CRepeatability
- DPrecision
135Accurately the end effector can be positioned at a specified point is
- AWorkspace
- BPayload
- CRepeatability
- DPrecision
136The kinematic equations for a robot arm provide expressions for the Cartesian coordinates of the end effector in terms of the joint angles (for revolute joints) and lengths (for prismatic joints) is
- ADynamics
- BKinematics
- CForward Dynamics
- DForward kinematics
137In this equation P is representing:
- ATotal kinetic energy of the robot arm
- BTotal potential energy of the robot arm
- CGeneralized coordinates of the robot arm
- DFirst time derivative of the generalized coordinate
138In this equation K is representing:
- ATotal kinetic energy of the robot arm
- BTotal potential energy of the robot arm
- CGeneralized coordinates of the robot arm
- DFirst time derivative of the generalized coordinate
139Image processing generally convert
- AImage -> Data
- BImage -> Image
- CData -> Interpretation
- DData -> Image
140Image Analysis generally convert
- AImage -> Data
- BImage -> Image
- CData -> Interpretation
- DData -> Image
141The kinematic equations for a robot arm provide expressions for each of the joint angles and lengths in terms of the desired Cartesian coordinates of the end effector is
- AForward Kinematics
- BReverse dynamics
- CInverse kinematics
- DControl algorithms
142where iri is:
- Airi be is mass and at rest in a link i
- Biri be is point moving at rest in a link i
- Ciri be is the distance between the two points in the link
- Diri be a point fixed and at rest in a link i
143is a:
- AReal quantity
- BCoefficient quantity
- CScalar quantity
- DVector quantity
144Graphics generally convert
- AData -> Interpretation
- BData -> Image
- CImage -> Data
- DImage -> Image
145Patter Recognition generally convert
- AData -> Interpretation
- BImage -> Data
- CData -> Image
- DImage -> Image
146Ji is the ___ ___ ___ or pseudo-inertia matrix , dependent on the mass distribution of link i.
- ALink parameter matrix
- BLink inertia matrix
- CLink representation matrix
- DLink Job matrix
147A image has 8 bit per pixel, what is the grey values?
- A256 grey values
- B2 grey values
- C8 grey values
- D512 grey values
148where Pi is:
- APotential energy
- BPurposeful energy
- CProgressive energy
- DPointing energy
149Capture the image by camera, done by?
- Asensing
- Bpreprocessing
- Cdescription
- Dinterpretation
150this equation represent the:
- AForce Equations of a Manipulator
- BMotion Equations of a Manipulator
- CAcceleration Equations of a Manipulator
- DTrajectory Equations of a Manipulator
151What this equation represents:
- ALagrangian function
- BNewton's function
- CSummation function
- DIntegration function
152What is the second segment for the 4-3-4 trajectory planning?
- A
- B
- C
- D
- A
153What is the first segment for the 4-3-4 trajectory planning?
- A
- B
- C
- D
- A
154_____ is the science that integrates mechanical devices with electronics control.
- ARobotics
- BMechanical systems
- CElectrical systems
- DMechatronics
155The Proportional plus Integral plus Derivative (PID) is a ____ method
- AControl
- BDynamics
- CTurbo
- DMotor
156There are mainly two methods for the manipulator force control:
- AKinematics control and dynamics control
- BPID control and PD control
- CImpedance control and hybrid control
- DForward control and feedback control
157Hybrid control uses two feedback loops for direct separate control of ______ and _____.
- Aposition and force
- Bkinematics and Inverse kinematics
- Ccontrol and position
- Dcontrol and force
158Ability to repeat between several measurements is:
- AResolution
- BRepeatability
- CWork
- DAutomation
159Different between measured and actual is:
- AAccuracy
- BResolution
- CValues
- DDigital/Analog
160A point is attached to a rotating frame, the frame rotates 60 degree about the OZ axis of the reference frame. Find the coordinates of the point relative to the reference frame after the rotation
- A
- B
- C
- D
- A
161What is the purpose of the Photo Resistor?
- Ato identify the changes of light
- Bto identify the pressure
- Cto identify the vibration
- Dto identify the humidity
162What is the output from the temperature sensor?
- A10 millivolts peer degree centigrade
- BPressure output of the motor
- CRobot joint temperature
- DTemperature in centigrade
163What kind of vibration sensor used in sensory device lab?
- APiezo vibration sensor
- BResistive vibration sensor
- Ccontrol vibration sensor
- Dphoto resistor sensor
164What is Arduino
- Aopen-source single board input/output controller hardware and software
- Bthe robot name
- Cthe name of the Black robot
- Da computer name
165What is GND pin of Arduino?
- Aground
- BPWM
- CDigital input
- DAnalog input
166How many digital pins are there in Arduino?
- A14
- B10
- C9
- D7
167Which of these is a digital input device?
- ATemperature sensor
- Bservo
- Cpush button
- Dvibration sensor
168Arduino code "delay(t)"; t is in
- Amillisec
- Bsec
- Cmicrosec
- Dnanosec
169is the rotation matrix of
- A
- B
- C
- D
- A
170is the rotation matrix of:
- A
- B
- C
- D
- A
171is the rotation matrix of:
- A
- B
- C
- D
- A
172Composite transformation matrix can be derive from
- A
- B
- C
- D
- A
173____ is the process that identifies the objects
- Asensing
- Bpreprocessing
- Csegmentation
- Drecognition
174d and 6 known as the _____ translational and differential rotation vectors
- ADirect
- BDifferential
- CIntegral
- DCross
175What will be resulting image if the image matrix is {2,3,0...}(матрица слева) and the convolution matrix is{1 -1 1} (матрица справа)?
- A
- B
- C
- D
- A
176What is the third segment for the 4-3-4 trajectory planning?
- A
- B
- C
- D
- A
177Total allowable error can be explained by:
- Aaccuracy
- Btolerance
- Cabsolute error
- Drelative error
178Which formula can you use to convert voltage to temperature?
- ATemp in C=(Vout-0.5)*100
- BTemp in C = (Vout-5000)/10
- CcTemp in C =(Vou-500)*10
- DNone of the given
179Which of the given devices are the internal state sensors?
- AAll of the given
- BPotentiometer
- COptical encoder
- DAccelerometer
180 How to find the measure of how close the output of the instrument to the true value?
- AFind the Tolerance
- BFind the Absolute Accuracy
- CNone of the given
- DFind the Relative Error
181What is sensor fusion?
- ATo make observations to work in dynamics environment
- BNone of given
- CIncrease of reliability of information
- DCombination of multiple sensors to make better estimation
182What is the range of photo resistor?
- A500 Ohm to 50kOhm
- B500 V to 50kV
- C50 V to 500kV
- D50 Ohm to 500kOhm
183Which of the sensors given below is used to determine the device orientation?
- AAll of the given
- BMagnetic field sensor
- CAccelerometer
- DGravity sensor
184Internal state sensor are used for measuring _______ of the effector
- APosition & Velocity
- BVelocity & Acceleration
- CPosition, Velocity & Acceleration
- DPosition
185 Which of the following sensors determine the relationship of the robot and its environment and the objects handled by it
- AExternal State sensors
- BNone of the above
- CInternal state sensors
- DBoth (A) and (B)
186 Define is that statement True or False “Arduino cannot directly sense the voltage, so we set up the voltage divider”
- ATrue
- BFalse
187 How does Kalman filter work?
- ANone of the given
- BIt uses a series of measurements observed over time, and produces estimates of unknown variables
- CIt uses single measurement observed over time, and produces estimates of unknown variables
- DIt uses a single measurement observed in one time, and produces estimates of unknown variables
188 Which sensor is included inside the servo motor?
- ANone of the given
- BPotentiometer
- COptical encoder
- DLight sensor
189What is Internal Measurement Unit (IMU)
- Adevice that contains gyroscopes combined with accelerometers and compasses
- BAll of the given
- CNone of the given
- Ddevice that measures a body’s specific force and angular rate
190 Define is that statement True or False - “The accelerometer is relatively stable, but it is very sensitive to vibration and mechanical noise”
- ATrue
- BFalse
191An image has 1 bit per pixel. What is the grey value
- A2 grey values
- B256 grey values
- C8 grey values
- D512 grey values
192 Find the resulting Image, if the original Image is [2 3 0; 1 2 0; 2 -1 0] and the convolution mask is [0 1 0;1 -4 1; 0 1 0]
- A[-4 -8 0; 2 -5 2; 8 -8 -1]
- B[-4 -8 3; 2 -5 2; -8 8 -1]
- C[-4 -4 3; 2 -5 2; 8 8 -1]
- D[4 8 0; 2 -5 2; -8 8 1]
193 What is knot points?
- AIt generates a sequence of time-based “Control set points” for the control of the manipulator from the initial location to its destination
- BIt “approximates” the desired path be a class of polynomial functions
- CAll of the above
- DNone of the above
Información
- Descripción
- Robotics Test sobre roboticsFinal, creado por Csse 1502 el 19/05/2017.
- Autor
- Csse 1502
- Idioma
- English
- Visitas
- 160
- Etiquetas
- Valoración
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