CRE Robot Kinematics & Mechanics Flashcards

The Newton-Euler dynamic formulation in robotics is primarily used to compute:

Answer: Joint torques and forces required to produce a desired motion

Newton-Euler formulation recursively applies Newton's laws to each link to calculate the joint forces and torques needed for a given trajectory.

Which parameter quantifies a robot link's resistance to angular acceleration based on its mass distribution?

Answer: Moment of inertia

The moment of inertia captures how mass is distributed relative to the rotation axis, directly resisting changes in angular velocity.

In a trapezoidal velocity profile for joint motion, the three phases are:

Answer: Accelerate, constant velocity, decelerate

A trapezoidal profile linearly increases velocity to a cruise speed, maintains it, then linearly decelerates to rest.

Coulomb friction in robot joints primarily degrades:

Answer: Positional accuracy during slow or stop-start motion

Coulomb (sliding) friction creates stiction that makes precise positioning difficult, especially during low-speed or fine-adjustment motions.

Gravity compensation in robot control works by:

Answer: Applying feedforward torques to counteract gravitational loads on each link

Gravity compensation feeds precomputed anti-gravity torques to each joint so the robot holds position without relying solely on feedback error.

Compliant robot joints are primarily designed to:

Answer: Absorb impact shocks and enable safer human-robot collaboration

Compliant joints introduce controlled mechanical flexibility that absorbs collision energy and reduces injury risk in collaborative settings.