**NPTEL Robotics Week 5 Assignment Answers**:- In this post, we have provided the answers to the NPTEL Robotics Week 5. All the answers are provided here on the basis of data available on the internet.

## NPTEL Robotics Week 5 Assignment Answers 2022

Q1. Forward dynamics problem of a robot aims to

- a. determine the position and orientation of its end-effector with respect to its base coordinate system.
- b. determine the joint torques for the known values of joint angles, velocities and accelerations
- c. determine the joint angles for the known position and orientation of the end-cffector with respect to its base coordinate system.
- d. determine the joint angles, velocities and accelerations for the given values of joint torques.

Answer:-d

Q2. Which one of the following terms is not present in the expression of joint torque equation obtained through dynamic analysis?

- a. Inertia
- b. Centrifugal
- c. Coriolis and gravity
- d. Magnetic dipole moment.

Answer:-d

Q3. Moment of inertia can have

- a. positive value.
- b. negative value.
- C. zero value.
- d. All of the above

Answer:-a

Q4. Product of inertia can have

- a. positive value.
- b. negative value.
- C. zero value.
- d. All of the above

Answer:-d

Q5. __________ theorem is used to calculate the moment of inertia of a link about an axis located at the center of its mass.

- a. Parallel axis
- b. Perpendicular axis
- c. Tangent axis
- d. Multi-axis.

Answer:-a

Q6. Which one of the following statements is FALSE?

- a. Dynamic analysis aims to determine torque requirement for a Revolute joint
- b. The expression of joint torque may or may not contain Coriolis term.
- C. The expression of joint torque must contain gravity term.
- d. The expression of joint torque may not contain centrifugal term.

Answer:-d

Q7. For a robotic link of length l, mass m and circular cross-section of radius r, the 4 x 4 inertia tensor can be determined as follows:

Answer:-c

Q8. According to Lagrange-Euler formulation, force (F) acting on a linear robotic joint can be determined as follows:

Answer:-c

Q9. Fig.1 displays one 1 dof manipulator arm of circular cross-section with the radius equal to ‘r’. The length of the arm is represented by °L’ and its mass ‘m’ is assumed to be located at its mass center. ‘g’ denotes the acceleration due to gravity.

Answer:-a

Q10. Coriolis force occurs, whenever

- a. a link slides along a joint.
- b. a link rotates about a joint.
- C. there is a sliding component on a rotary link.
- d. a concentrated moment acts on a joint.

Answer:-c

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**NPTEL Robotics Week 5 Assignment Answers**:- In this post, we have provided the answers to the NPTEL Robotics Week 5. All the answers are provided here on the basis of data available on the internet.