## NPTEL Robotics Week 3 Assignmennt Answers 2024

1. One 3-D object in 3-D space has got

a. 3 degrees of freedom (dof).

b. 4 degrees of freedom (dof).

c. 5 degrees of freedom (dof).

d. 6 degrees of freedom (dof).

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2. To represent orientation of one 3-D object, we use

a. 3×3 matrix.

b. 4×4 matrix.

c. 5×5 matrix.

d. 6×6 matrix.

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3. Position information of a 3-D object can be represented in 3-D space in

a. Cartesian Coordinate System.

b. Cylindrical Coordinate System.

c. Spherical Coordinate System.

d. all of the above.

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4. Orientation information of a 3-D object can be represented in 3-D space in

a. Roll-Pitch-Yaw System.

b. Euler Angles.

c. Cartesian Coordinate System.

d. all of the above.

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5. The concept of Euler Angles is used to represent

a. position of a 3-D object.

b. orientation of a 3-D object.

c. both position as well as orientation of a 3-D object.

d. none of the above.

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6. In Denavit-Hartenberg Notations, Link and Joint parameters are used to represent

a. the structure of a Link.

b. the relative positions of neighboring links.

c. the structure of a Link and relative positions of neighboring links, respectively.

d. the relative positions of neighboring links and structure of a link, respectively.

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7. In Denavit-Hartenberg notations, the offset of i-th robotic link

a. can have positive values only.

b. can have negative values only.

c. can have zero value only.

d. can have either positive value or negative value or zero value.

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8. In Denavit-Hartenberg notations, the Joint Angle

a. can have positive values only.

b. can have negative values only.

c. can have zero value only.

d. can have either positive value or negative value or zero value.

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9. Forward Kinematics of 2 dof Serial Manipulator will have

a. a unique solution.

b. two solutions.

c. three solutions.

d. more than three solutions

Answer :-

10. Inverse Kinematics of 2 dof Serial Manipulator will have

a. a unique solution.

b. two solutions.

c. three solutions.

d. more than three solutions.

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