Robotics 135-188

135. In kinematics the u, v, and w axis are generally referred as

Reference coordinate

Body-attached coordinate

Frame coordinate

Base coordinate

139. How many geometric parameters are associated with the D-H representation of a rigid link?

Three geometric parameters

Four geometric parameters

Five geometric parameters

Six geometric parameters

140. What is name of this symbol (ai) in the D-H representation?

Link Length

Link Twist

Link Angle

Link Distance

141. What is name of this symbol (αi) in the D-H representation?

Link Length

Link Twist

Link Angle

Link Distance

142. What is name of this symbol (qi) in the D-H representation?

Link Length

Link Twist

Link Angle

Link Distance

143. What is name of this symbol (di) in the D-H representation?

Link Length

Link Twist

Link Angle

Link Distance

149. ________ is the process that identifies the objects.

Sensing

Preprocessing

Segmentation

Recognition

150. D and Ϭ known as the ________ translation and differential rotation vectors

Direct

Differential

Integral

Cross

151. The _______ ___ and ________ _____ formulations were used to the robot arm dynamic problem.

Newton-Lagrange and Euler

Lagrange-Euler and Newton-Euler

Euler-Jone and Newton-theory 1st law and 2nd law

2nd derivative and the 1st derivative

157. Ji is the ___ ____ ____ or pseudo-inertia matrix, dependent on the mass distribution of link I.

Link parameter matrix

Link inertia matrix

Link representation matrix

Link Job matrix

164. _____ is the science that integrates mechanical devices with electronics control.

Robotics

Mechanical systems

Electrical Systems

Mechatronics

165. The Proportional plus Integral plus Derivative (PID) is a ______ method.

Control

Dynamics

Turbo

Motor

166. There are mainly two methods for the manipulator force control:

Kinematics control and dynamics control.

PID control and PD control.

Impedance control and hybrid control.

Forward control and feedback control.

167. Hybrid control uses two feedback loops for direct separate control of ______ and ____.

Position and force

Kinematics and Inverse kinematics

Control and position

Control and force

168. Ability to repeat between several measurements is:

Resolution

Repeatability

Work

Automation

169. Different between measured and actual is:

Accuracy

Resolution

Values

Digital/Analog

172. Ji is the ___ ____ ____ or pseudo-inertia matrix, dependent on the mass distribution of link I.

Link parameter matrix

Link inertia matrix

Link representation matrix

Link Job matrix

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Robotics 135-188

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