# NPTEL Robotics Week 5 Assignment Answers

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.
`Answer:- c`