NPTEL Robotics Week 3 Assignment Answers:- In this post, we have provided the answers to the NPTEL Robotics Week 3. All the answers are provided here on the basis of data available on the internet.
NPTEL Robotics Week 3 Assignment Answers 2022
Q1. Rot (Y, B), that is, rotation about Y axis by an angle ß is represented by a 3 x 3 matrix, and Rot (Z, y), that is, rotation about 2 axis by an angle y is represented by a 3 x 3 matrix, then Rot(?, 60°) x Rot (2,30) is given by
Answer:- d
Q2. Which one of the following combinations of the statements given below is Correct with respect to a rotation matrix?
Statement 1: Each row/column of a rotation matrix is a unit vector.
Statement 2: The inner (dot) product of each row of a rotation matrix with each other row becomes equal to 0. Statement 3: Inverse of a rotation matrix is nothing but its transpose.
Statement 4: Rotation matrices are commutative in nature.
- a. Statements 1 and 2 are correct
- b. Statements 1, 2 and 3 are correct
- C. Statements 1 and 4 are correct
- d. All the statements 1, 2, 3 and 4 are correct
Answer:- b
Q3. If a Cartesian coordinate frame is rotated by a angle about Z axis, followed by a rotation of B angle about P axis, followed by rotation ofy angle about & axis, then in order to represent the final frame with respect to reference frame, the composite rotation matrix can be represented by
- a. ROTcomposite = ROT(2,a) ROT(?.P) ROT(&.v)
- b. ROTcompoite = ROT(R,y) ROT(?.P) ROr(2, «)
- C.ROTcomposite = ROT(?.p) ROT(8.y) ROT(2,a)
- d. ROTcomposite = ROT(2, «) ROT(R,y) ROT(?.B)
Answer:- b
Q4. Which one of the following statements is TRUE?
The concept of Roll, Pitch and Yaw angles can be used to
- a. represent the position of end-effector of a manipulator with respect to its base co- ordinate system.
- b. represent the orientation of end-effector of a manipulator with respect to its base co- ordinate system.
- c. represent both the position and orientation of end-effector of a manipulator with respect to its base coordinate system.
- d. represent neither the position nor orientation of end-effector of a manipulator with respect to its base coordinate system
Answer:- b
Q5. A frame {B} is rotated about Xy axis of the Universal coordinate system by 60 degrees and translated along Xy. Yu and 2y by 1,2 and 1 unit(s), respectively. Let the position of a point Q in {B} is given by 1 2 31. UQ is found to be equal to
- a. [2.51 6.15 3.61]”
- b. [3.52 4.65 3.72]
- C. (2.000 0.402 4.232]
- d. 3.54 3.96 6.42]
Answer:- c
Q6. According to Denavit-Hartenberg notations, link and joint parameters represent
- a. the structure of a link only.
- b. the relative positions of neighboring links only.
- c. the relative positions of neighboring links and structure of a link, respectively.
- d. the structure of a link and relative positions of neighboring links, respectively.
Answer:- d
Q7. According to Denavit-Hartenberg notations, the length of i-th robotic link can have
- a. positive value only.
- b. negative value only.
- C. zero value only.
- d. either positive or zero value.
Answer:- d
Q8. According to Denavit-Hartenberg notations, the angle of twist of i-th robotic link can have
- a. positive value only.
- b. negative value only.
- c. zero value only.
- d. either positive or negative or zero value.
Answer:- d
Q9. For a Revolute Joint,
- a. joint angle is variable but angle of twist, length of link and offset of link are kept fixed.
- b. angle of twist is variable but joint angle, length of link and offset of link are kept fixed.
- C. length of link is variable but joint angle, angle of twist and offset of link are kept fixed.
- d. offset of link is variable but length of link, angle of twist and joint angle are kept fixed.
Answer:- a
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NPTEL Robotics Week 2 Assignment Answers:- In this post, we have provided the answers to the NPTEL Robotics Week 3. All the answers are provided here on the basis of data available on the internet.