## NPTEL Robotics Week 4 Assignment Answers 2024

1. The Manipulator named MINIMOVER is

a. an under-actuated Planar Manipulator.

b. an under-actuated Spatial Manipulator.

c. a redundant Spatial Manipulator.

d. none of the above.

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2. Forward Kinematics of a Serial Manipulator

a. aims to determine its Joint Angle(s) and/or Link-Offsets for the given Position and Orientation information.

b. aims to estimate its required Joint Force(s) and/or Torque(s).

c. aims to determine the Position and Orientation of its End-effector with respect to the Base Coordinate System.

d. aims to determine its Joint Angle(s) and/or Link-Offsets for the known Joint Force(s) and/or Torque(s) information.

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3. Inverse Kinematics of a Serial Manipulator

a. aims to determine its Joint Angle(s) and/or Link-Offsets for the given Position and Orientation information.

b. aims to estimate its required Joint Force(s) and/or Torque(s).

c. aims to determine the Position and Orientation of its End-effector with respect the Base Coordinate System.

d. aims to determine its Joint Angle(s) and/or Link-Offsets for the known Joint Force(s) and/or Torque(s) information.

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4. Trajectory Planning of a Robot

a. aims to determine its collision-free path, while moving from an initial position to a final position.

b. aims to determine the time histories of position, velocity and acceleration of the Joints for ensuring their smooth variations.

c. is not required to carry out at all.

d. is to be done before carrying out its Kinematic analysis.

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5. To fit a fifth-order polynomial function for a Robotic Joint, we need to have at least

a. six known conditions.

b. five known conditions.

c. four known conditions.

d. three known conditions.

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6. Which one of the following statements is FALSE?

a. Pure Linear Trajectory function is preferred to that with the parabolic blends at its two ends.

b. Linear Trajectory function with the parabolic blends at its two ends is preferred to the pure Linear Trajectory function.

c. Trajectory function may be a nonlinear function other than Polynomial.

d. The tip of a Robotic link will have nonlinear movement, even if its rotary joint follows a linear trajectory function.

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7. At Singularity condition,

a) a Manipulator gains an extra degree of freedom (dof).

b) a Manipulator loses its dof.

c) a Manipulator keeps its dof intact.

d) a Manipulator maintains its mobility intact.

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8. Which one of the following statements is FALSE?

a. Jacobian Matrix contains the information related to multi-dimensional form of the derivatives.

b. To ensure non-singular configuration of a Manipulator, its Jacobian Matrix must be invertible.

c. To ensure non-singular configuration of a Manipulator, its Jacobian Matrix need not be invertible.

d. Jacobian Matrix of a Serial Manipulator can be used for checking its Singularity condition and Control, as well.

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9. Inverse Kinematics problem of MINIMOVER will have

a. one solution only.

b. two solutions.

c. five solutions.

d. more than five solutions.

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10. Which one of the following statements is TRUE?

a. Trajectory Planning of a Manipulator can be carried out in Cartesian Coordinate System only.

b. Trajectory Planning of a Manipulator can be carried out in Joint Space Scheme only.

c. Trajectory Planning of a Manipulator can be carried out in either Cartesian Coordinate System or Joint Space Scheme.

d. Trajectory Planning in Cartesian Coordinate System will be computationally faster compared to that in Joint Space Scheme.

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