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WorksheetsType of Robotics & Intro to Kinematics
Total questions: 30
Worksheet time: 19mins
What is the name of this joint?
Plectic
Plasmatic
Plastic
Prismatic
What type of robot arm is in the picture?
Spherical
Rotational
SCARA
Parallel
What type of robot arm is in the picture?
PRP
RRR
RPP
PPR
An articulated manipulator is a common name for ... robotic arm configuration
PPP
PRP
RRR
RRP
The robot in the picture usually known as
Cartesian robot
SCARA
Cylindrical robot
Delta robot
RRP configuration robot also could be called
Delta
SCARA
Spherical
Cylindrical
SCARA is the abbreviation of (just write one of them)
(a)
Which picture is the SCARA robot?
The 3D printer is an example of ... robotics arm
Cartesian
Delta
Spherical
SCARA
Please pick the picture which resembles the RRP configuration
This picture is the configuration of
Cylindrical manipulator
Spherical manipulator
Cartesian manipulator
Articulated manipulator
Which configuration resembles the robotics arm in the picture?
Which configuration resembles the robotics arm in the picture?
Which variables we should already know in the forward kinematics?
End-effector orientation
Link length
Joint angle
End-effector coordinate
Which variables do we need to find in the forward kinematics?
End-effector coordinate
Link length
Joint angle
Base rotation
Based on the picture, which variable(s) may change?
Base height
Link length
Joint angle
Base linear movement
Based on the example from presentation before in the picture, which variable(s) may change?
Base linear movement
Base height
Joint angle
Link length
How many dimensions the robot in the picture may move?
2 dimension
3 dimension
How many dimension the robot in the picture may move?
2 dimension
3 dimension
Which robot/manipulator may move 3-dimensions?
SCARA
Articulated
Cylindrical
Cartesian
Which 2 persons invented the method to solve forward kinematics easier?
Jacques Denavit
John F. Kennedy
George C. Devol
Richard S. Hartenberg
Which variables do we need to find in inverse kinematics?
Joint angle
Link length
End-effector coordinate
End-effector orientation
The inverse kinematics calculation is way more difficult than the forward kinematics, because of these reasons, except:
Non-linear
Exponential
The solution may not exist
May have multiple solutions
The picture shows one of the examples of inverse kinematics, which usually known as ...
(a)
In position control, what is the process after the user giving a new command to the robot (by giving x, y, & z)
Move joints
Calculate error
Calculate using forward kinematics
Calculate using inverse kinematics
What is the process of forward kinematics?
Moving all robotic joints
Converting joint angle and link length into end-effector coordinate (x,y,z)
Converting end-effector coordinate (x,y,z) into the joint angle and link length
Calculating the end-effector coordinate difference
What will may the position control process happen when singularity happens?
The robotic joint won't move
Inverse kinematics process skipped
The position control process won't stop
End-effector coordinate x,y,z will always have differences as determined
What is forward and inverse kinematics consider in the calculation?
Position
Movement
Time
Torque
When kinematics start to consider position, space, time, and robot's movement, the term called:
Forward kinematics
Dynamics
Velocity kinematics
Inverse kinematics
What makes kinematics upgraded into dynamics?
Adding torque
Adding force
Adding linear motion
Adding joints angular speed
