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.