NPTEL Robotics Week 4 Assignment Answers

NPTEL Robotics Week 4 Assignment Answers:- In this post, we have provided the answers to the NPTEL Robotics Week 4. All the answers are provided here on the basis of data available on the internet.

NPTEL Robotics Week 4 Assignment Answers 2022

Q1. A 2 dof serial manipulator with the links having lengths of L and Lz has the joint angles represented by 6, and 02. The end-effector’s coordinates are represented by (qx4y), where

4xL cOSs6, + Lącos (0, + 0,)
4 Lsin 0, + Lzsin (0, +0,)

The Jacobian matrix for the given configuration will be as follows:

`Answer:- d`

Q2. Which one(s) of the following statements is/are Correct with respect to Jacobian matrix? Statement-1: Jacobian matrix is nothing but multi-dimensional form of derivative. Statement-2: Jacobian matrix relates the Cartesian velocity of a manipulator with its joint velocity. Statement-3: Jacobian matrix helps to determine singularity condition of a manipulator.

• a. Only Statement-1 is correct.
• b. Only Statement-2 is correct.
• c. Only Statement-3 is correct.
• d. All the Statements-1, 2 and 3 are correct.
`Answer:- d`

Q3. Forward Kinematics of a Serial Manipulator

• a. aims to determine the position and orientation of its end-effector with respect to the base coordinate system for the given joint angles/link-offset values.
• b. aims to determine the joint angles/link-offset values for the given position and orientation information of its end-cffector with respect to the base coordinate system.
• c. is more difficult to solve compared to its inverse kinematics problem.
• d. will yield multiple solutions.
`Answer:- a`

Q4. Which one of the following statements is TRUE?

• a. Robot’s trajectory planning problem aims to determine its collision-free path among the obstacles present in the environment.
• b. Robot’s motion planning problem aims to ensure smooth variations at different robotic joints.
• c. Robot’s trajectory planning problem aims to ensure smooth variations at different robotic joints.
• d. Robot’s trajectory planning problem and its motion planning problem are the same.
`Answer:- c`

Q5. To determine fifth-order polynomial trajectory for a manipulator joint, we need to know

• a. Joint position only at initial and final states.
• b. Joint position and velocity at initial and final states.
• c. Joint velocity and acceleration at initial and final states.
• d. Joint position, velocity and acceleration at initial and final states.
`Answer:- d`

Q6. Which one of the following statements is True?

• a. Computational complexity of Cartesian scheme of trajectory planning is more as compared to its joint-space scheme.
• b. Computational complexity of joint-space scheme of trajectory planning is more as compared to its Cartesian scheme.
• C. Computational complexity of Cartesian scheme and joint-space scheme of trajectory planning is not comparable.
• d. Joint-space scheme is never used in robot’s trajectory planning.
`Answer:- a`

Q7. The parabolic blends are used at two ends of linear trajectory function in order to

• a. generate linear movement of the end-effector of the manipulator.
• b. make it computationally faster compared to pure linear trajectory function.
• C. avoid infinite acceleration and deceleration at the beginning and end of the linear trajectory function, respectively.
• d. develop intelligent robot.
`Answer:- c`

Q8. The initial and final positions of a rotary joint of a manipulator are 10 and 40 degrees, respectively. The link connected to this joint starts from rest and reaches its final position in 3.0 seconds and becomes motionless. Ift and 6 represent the time and angular position of the joint, respectively, the suitable third- order polynomial trajectory function will be given by

• a. 6 10+ 10t2-3
• b. 5+5t +20t2
• c. 0 10 +20t +2
• d. 10 – 10t2 +3
`Answer:- a`

Q9. Trajectory planning aims to

• a. develop an autonomous robot.
• b. determine a collision-free path for the robot.
• C. ensure the smooth variations of displacement, velocity and acceleration at each of the robotic joints.
• d. determine the force/torque required at each of the robotic joints.
`Answer:- c`

Q10. For a 5 dof serial manipulator, which of the following statements are correct?

Statement-1: Its forward kinematics has a unique solution.
Statement-2: Its inverse kinematics has a unique solution.
Statement-3: Its inverse kinematics has multiple solutions.
Statement-4: Its forward kinematics has multiple solutions.

• a. Statements-1 and 3 are correct.
• b. Statements-2 and 3 are correct.
• C. Statements-2 and 4 are correct.
• d. Statements-1, 3 and 4 are correct.
`Answer:- a`