CRE CRE Robot Kinematics & Mechanics

Question 1

What does forward kinematics calculate in a robot arm?

Accepted Answer

End-effector position and orientation from joint angles

Answer

Joint torques from end-effector forces

Answer

Joint angles from a desired end-effector position

Answer

Robot workspace boundaries

Question 2

How many parameters does the Denavit-Hartenberg (DH) convention use to describe each joint?

Accepted Answer

4

Answer

2

Answer

3

Answer

6

Question 3

Which joint type allows only rotational motion about a single axis?

Accepted Answer

Revolute

Answer

Prismatic

Answer

Spherical

Answer

Screw

Question 4

In robotics, the Jacobian matrix relates:

Accepted Answer

Joint velocities to end-effector linear and angular velocities

Answer

Joint positions to link lengths

Answer

Torques to joint positions

Answer

Link masses to rotational inertia

Question 5

The workspace of a robot arm is defined as:

Accepted Answer

The set of all positions and orientations reachable by the end-effector

Answer

The maximum payload the robot can carry

Answer

The software control environment

Answer

The floor area occupied by the robot cell

Question 6

Robot kinematic singularities occur when:

Accepted Answer

The Jacobian matrix loses rank, causing loss of mobility in certain directions

Answer

The robot exceeds its rated speed

Answer

A joint encoder loses calibration

Answer

The robot arm contacts an obstacle