INTRODUCTION TO ROBOTICS

One mark questions.

1.The czech word Robota meaning a.forced labour b.slaves c.mechanical manipulator d.humanoid Answer.a ~end~

2.The term robotics was coined by

a. Karel Capek b. Issac Asimov c. Rossum d. Miller Answer.b

~end~

3.The robot can reliev humAnswer of the need to perform what have been called 4D jobs , , , .

a. dirty,dangerous,different,difficult b. dull,duty,deep,different c. dull, dirty, dangerous, difficult d. dull,difficult,different,deep Answer. C

~end~

4.The basic configurations of robots are

a. rectangular b. sphereical c. rectangular,sphereical , cartesian, cylindrical configurations d. cartesian, cylindrical configurations, polar configurations, articulated configurations Answer.d ~end~

5.The end point of the arm is capable of operating in a cuboid space is called .

a. workspace b. Machine cell c. configuration d. none Answer.a

~end~

6.The workspace of cartesian configuration is .

a. cylindrical b. gantry c. polar d. articulated Answer.b

~end~ 7.The term robot was derived from_____languages.

a. English b. czech c. greek d. latin Answer. b ~end~ 8. The word robot was introduced in Czech play wright______ in his play R.U.R. a.Karel capek b. Rossum c.issac asimor d.miller Answer. a ~end ~ 9. The term robotics was comed by_____in his science fictim story

Run around a.karel capek b.rossem c.issac asimor d.miller Answer .c ~end~ 10. The robot were introduced to industry by_______ a.karel capek b.rossem c.issac asimor d.miller Answer. d ~end~ 11. The law of robotics established by_____ a.karel capek

b.rossem c.issak asimor d.miller Answer.c

~end~ 12. The first robotics had been introduced by in the____ industry a.automotive b.process c.mining d.space Answer.a ~end~

13.The two perpendicular revolute joint used in configuration.

a. polar b. cylindrical c. articulated d. gantry Answer.b

~end~

14.The arrangement of joints is known as RRP configuration is .

a. gantry b. polar

c. articulated d. cylindrical Answer.b

~end~

15.The selective complaints on assembly robots arm are called as .

a. scara b. puma c. stand ford d. none Answer.a

16.The wrist motion in a plane perpendicular to the end of the arm is called .

a. roll b. pitch c. yaw d. none Answer.a

~end~

17.The wrist motion in a vertical plane passing through the arm is called .

a. pitch b. yaw c. roll d. none Answer.a

~end~

18.The wrist motion in a horizontal plane passing through the arm is called .

a. pitch b. roll c. yaw d. none Answer.c

~end~

19.The first generation robot capable

a. programmable b. environment understand capability

c. intelligency d. none Answer. a

20.The robot embedded with the artificial intelligence classified into .

a. first generation b. Second generation c. Third generation d. Fifth generation Answer.c

~end~

21.An artificial biological robot might provide the impetus for .

a. third generation b. fourth generation c. fifth generation d. 6th& higher generation Answer.

~end~

22.The excellent mechanical flexibility can obtain from manipulator structure.

a. articulated robot b. cylindrical robot c. scara robot d. pick&place robot Answer.

~end~

23. Spine robot used for

application.

a. painting b. assembly c. deburring d. welding Answer.a

~end~

24.Robot teaching methods are

a. lead through teaching b. teaching through teach pendant c. programming language d. all the above Answer.d ~end~

25.Highly load carrying capacity can be obtained from .

a. special robot b. architectural robot c. cylindrical robot d. scara robot Answer.c

~end~

26.Highly rigid along vertical direction capability can be obtained from .

a. special robot b. architectural ronot c. cylindrical robot d. scara robot

Answer.d

~end~

27.Scara robot used for

application.

a. painting b. assembly c. deburing d. welding Answer.b

~end~

28.In a 3D space a co-ordinate frame is set of 3 orthogonal right handed axis X,Y,Z is Called .

a. principal axis

b. common axis c. normal axis d. none Answer.a

~end~

29.The position of links in a space and their motion are described by geometry .

a. spatial b. manipulator c. space d. none Answer.b

30.Angular grippers has angular stroke degrees of open and gripping size.

a. 270 b. 180 c. 90 d. 60 Answer.b

~end~

31.In grippers equipped with to control gripping force is used is sensor.

a. tactile b. load cell c. LVDT d. RFID Answer.a

2. COORDINATE FRAMES, MAPPING & TRANSFROMS 1.The changing description of point in a space from one frame to another is refer to .

a. eular angles b. rotation of vectors c. mapping d. none Answer.a

~end~

2.The representation of rotation in a 3D space has matrix.

a. 3*1 b. 3*3 c. 1*3 d. 1

Answer.b

~end~

3. The representation of translation in a 3D space has matrix.

a. 3*1 b. 3*3 c. 1*3 d. none Answer.a ~end~

4.The 4*4 transformation matrix in robot is called .

a. homogenous transformation matrix b. homogeneous co-ordinates matrix

c. scale factor matrix d. perspective transformation matrix Answer.a

~end~

5.Scale factor in robot

a. two b. three c. one d. +/Answer.

~end~

6. R

a. transformation matrix b. homogenous transformation matrix c. perspective transformation matrix d. none Answer.cperspective transformation matrix

~end~

7.The scale factor has non-zero positive values and is called .

a. global sacling parameter b. enlarging factor c. reducing factor d. none Answer.a

~end~

8.The robotics scale factor value is

a. <1 b. >1 c. =1 d. >-1 Answer.C

~end~

9.The rotation matrix has

elements.

a. 3 b. 9 c. 8 d. 1 Answer.b

~end~

10.If in the rotation matrix has only 3 of the g elements are independent the rotation matrix has .

a. redudancy b. singularity c. dexirity d. none Answer.a

~end~

11.The PUMA has

revolute joint.

a.2 b.4

c. 6 d. 8 Answer.c ~end~

12.How many numbers of euler angles sets can be obtained? a.12 b.36 c.24 d.3 Answer.c ~end~

DIRECT MANIPULATOR KINEMATICS 1.The spherical joint variables for 3 degrees of freedom.

a. 1 b. 2 c. 3 d. 1 2 3 Answer.d

~end~

2.For pure translation linear link velocity can be taking the time derivative of the homogeneous transfer formation matrix became rotation matrix is .

a. varies b. constant c. zero d. one Answer.b

~end~

3.If robot link is prismatic R is the __________ i-1 a. it is different from R i-1 0 b. it is same as R i-1 c. both a&b

4.From robot forward kinematics you can find .

a. target co-ordinates b. length of each link c. angles of each point

d. all the above Answer.a

~end~

5.The position of any point it is in workspace can obtained through .

a. forward kinematics b. backward kinematics c. inverse kinematics d. none Answer.a

~end~

6.In inverse kinematics we can find

a. angles of each point b. the length of each point c. the angle each point d. the position each point Answer.a

~end~

7.Rotation around the z-axis is

a.

b.

c. d. none

Answer.c

~end~

8.The suction cups are used in

grippers.

a. mechanical b. vaccum c. adjustive d. magnetized Answer.a

~end~

9.The situation of a position and an orientation are an entity called as .

a. frame b. link

c. joint d. none Answer.a

~end~

10.Consider the rotation about Z-axis by 90' the matrix is .

a.

b.

c.

d . Answer .

~end~

11.The representation of 3 set of rotations frames are called . a. eular angles b. transformation angle c. translation angles d. orientation angles Answer.a

~end~

12. The sliding joints are called

a. prismatic joint b. revolute joint c. lower pair joint d. higher pair joint Answer.a

13.The distance measured along a line i.e. mutually perpendicular to both the axis in D-H notation is called .

a. link length b. link twist c. link parameter d. joint variable Answer.

~end~ 14.R.R 2 link planar manipulation workspace = __________

L2 L1

a.IR^2 b.circle (L1-L2. n circle (m1+m2. c.o ecept if L1=L2 d.none

Answer.a

~end~

15. Reachable workspace = __________

L1

L2

a.IR^2 b.circle (L1-L2. n circle (m1+m2. c.all the a,b,c d.none

Answer.b

~end~

16.Dexterous workspace __________

L2 L1

a.IR^2

b.circle (L1-L2. n circle (m1+m2. c.all the a,b,c d.none

Answer.c

~end~

17. In which mathematical approach solving for inverse kinematics for closed form__________

a.algebric b.geometric c.all three a,b,c d.nuemerical

Answer.c

~end~

18.When 2 link manipulator is fully stretched out (or. folded back (or. Itself __________

a.workspace boundary singularity b.workspace interior c.singular coagoguratian d.none Answer.a ~end~ 19. The workspace interior singularities occur away from space boundary __________ a. 2 revolute joints with collinear axis b. 3 revolute joints with co-planar axis c. 4 revolute joints with intersection at one point d. All above

Answer.d ~end~ 20.The ability of the robot to move freely in all direction of the workspace __________ a. robot manipulability b. quantitative measure of manipulator c. end point sensitivity d. robot control Answer.a ~end~

4. INVERSE MANIPULATOR KINEMATICS

1. The definition for is the determination of all possible and feasible sets of joint variables, which would achieve the specified position and orientation of the manipulators end effector with respect to the base frame.

a. inverse kinematics b. forward kinematics c. indirect kinematics d. none Answer.a

~end~ 2.The six components can be represented by six dimensional space called .

a. Cartesian space b. joint space c. cylindrical space d. spherical space Answer.

~end~

3. The region that can be reached by the origin of the end effector frame with at lest one orientation is called .

a. Reachable workspace b. manipulators workspace c. dexterous workspace d. none Answer.a

~end~

4. The space where is end effector can reach every point from all orientation is called .

a. Reachable workspace b. manipulators workspace c. dexterous workspace d. none Answer.c

~end~

5. How many solution it can be obtained by two link robot

a. no solution b. single solution c. two solution d. <2 solution

Answer.

6. The two approaches to the solution to the inverse problem .

a. closed form b. numerical solution c. Both a & b d. none Answer .

7. Closed form solution method based on

a. analytical algebraic approach b. differential approach c. vector approach d. none

8.A sufficient condition for six degrees of freedom manipulator to posses a close form solution is that either its consective joint axis .

a. parallel b. intersect c. Both a & b d. none Answer.

~end~

9. The robot have existence of solution in dexterous workspace it has __________

a.position & orientation b. position solution c. closed form solution

d.numerical solution Answer.a

~end~ 10.The number of solution for the inverse kinematics problem of the given 6 degrees of freedom manipulation arm is __________ a.6 b.3 c.4 d.none Answer.c ~end~ 11. The direct Q inverse kinematic models were establish the relationship between the manipulators __________ a.Joint displacements Q position & orientation of end effecter b.Link displacement

c.Position & orientation of end effector d.All Answer.a ~end~

12.The ability of the robot to move freely in all direction of the workspace __________ a. robot manipulability b. quantitative measure of manipulator c. end point sensitivity d. robot control Answer.a

5. MANIPULATOR DYNAMICS

1.The study both velocity and static force leads to matrix entity called .

a. jacopian manipulator b. Cartesian manipulator c. dexterous manipulator d. cylindrical manipulator Answer.a

2.A manipulators with more DOF with necessary are called . manipulators.

a. Cartesian manipulator b. cylindrical manipulator c. kinematically manipulator d. dexterous manipulator Answer.c

3. The jacobian matrix defines the link between the end effectors velocities & joint velocities by __________ matrix a.6*6 b.6*N c.4*4 d.6*4 Answer.b ~end~ 4. The tool tip trajectory can obtain the velocities one time __________ matrix a. Jacobean matrix b. Orientation matrix c. Position matrix d. None Answer.a ~end~

5.The example of redundant manipulator is .

a. cartesian b. SCARA c. cylindrical d. spherical Answer.

~end~ 6.PUMA 560 has __________ singularity a. two b. three c. six d. none Answer.a ~end~

7. In which manipulator have added flexibility for useful to avoiding obstacles

a. redundant b. cartesian c. cylindrical d. spherical Answer.

~end~

8.

=?

a. = tan2 (x/y) b. = cos2 (x/y) c. = cos2 (y/x) d. = m (x/y) Answer.a

~end~

9.

S= ?

a. b. c. d. Answer.

~end~ 10.The time variation of position and orientation of link in space produces .

a. Linear & angular velocity b. Linear velocity c. angular velocity d. Linear & angular acceleration Answer.a

~end~

11.The axis of rotation itself may be changing with time is called .

a. Linear & angular velocity b. Linear velocity c. angular velocity d. Linear & angular acceleration Answer.c 12.The velocity vectors are free vectors. Why?

a. They do not depend on their linear action b.They depend on their linear action c. Both a & b d. none Answer.

13. The transformation from joint velocities to the end effectors velocity is described by matrix, called __________ a.The Jacobean matrix b.Orientation matrix c.Position matrix d.None Answer.a ~end~ 14. The mapping between force applier to end effectors & resulting calculate by __________ a.The Jacobean matrix b.Orientation matrix c.Position matrix d.None Answer.a ~end~ 15. In pure transformation , linear link velocity can be obtained by taking the fine derivative of the

homogeneous transformation matrix because __________ is constant a. The Jacobean matrix b. Orientation matrix c. Position matrix d. None Answer.b ~end~ 16. The angular velocity 0w1 define as __________ a. dQ/dt\ b. dv/dt c. rw d. d(0d1./dt Answer.a ~end~ 17. The linear velocity 0vi is given by __________ a. dQ/dt b. dv/dt

c. rw d. d(0d1./dt Answer.b ~end~ 18. In which vectors needs to be preserved in the magnitude of direction __________ a. Free vector b. Linear angular velocity c. Angular velocity d. Linear vector Answer.a ~end~
Operation point

19. The forward different model

End effector jackoform

End effector velocity

Joint link parameter

a. joint velocity b. free vectors c. angular velocity vectors d. linear vectors Answer.a

6. TRAJECTORY PLANNING

1. The Cartesian position and orientation of tool within manipulator work piece if the following condition satisfies.

a. sin & cos function taking values range of(-1,1) b. sin & cos function taking values range of(0,-1) c. sin & cos function taking values range of(1,-1) d. Both a & b Answer.

2. The purpose of control provide inputs for the robot joint actuators. In order to accomplish a task with __________ a. robot control system b. end effectors c. motor control d. mechanical system Answer.b ~end~

3. Robot tasks in basic types __________ a. un constrained free motion of tool b. constrained motion application of forces to the environment c. combination of a & b d. all above Answer.d ~end~ 4. The robot finding the path. This process is called __________ a. trajectory planning b. trajectory generation c. trajectory description d. none Answer.a ~end~

5. The robot act of computing a trajectory as a time sequence or value in a real time is called __________ a. trajectory planning b. trajectory generation c. trajectory description d. none Answer.b ~end~ 6.A pure geometric statical description or the motion is called__________ a. path b. trajectory c. via points d. spline Answer.b ~end~

7. A path with specified quality of motion that in a path on which a time law is Specified in terms of velocities and acceleration at each point is called __________ a.path b.trajectory c.via points d.spline Answer.c ~end~ 8. The set of intermediate location between the set of the start goal points. On a trajectory is called as __________ a.path b.trajectory c.via points d.spline Answer.d ~end~

9. The smooth functions that passes through the set of via points. It is called __________ a.path b.trajectory c.via points d.spline Answer.d ~end~ 10. The PUMA robot path update rate is __________ a.560 hz b.56 hz c.5600 hz d.none Answer.a ~end~ 11. The trajectory description in Cartesian space are __________ a. x(dt. , x d(t. , xd(t.

b.Q d(t. , Q d(t. , Q d(t. c.v1, v2, v3 d.none Answer.a ~end~ 12. The trajectory description in joint space are __________ a.x(dt. , x d(t. , xd(t. b.Q d(t. , Q d(t. , Q d(t. c.v1, v2, v3 d.none Answer.b ~end~ 13. The collision free path obtain from __________trajectory planning a.Cartesian space b.Joint space c.Trajectory space d.None

Answer.a ~end~ 14. In which method trajectory planning has computating at complexity __________ a.aCartesian space b.Joint space c.Trajectory space d.None Answer.a ~end~

15. What are criteria for controller selection __________ a.stability b.performance

c.both d.none Answer. ~end~ 16. The trajectory points are computed at a path updated rate. This rate lies between __________ a.60hz 2000hz b.60hz 1000hz c.326hz d.60hz Answer.a ~end~

7.0 ROBOTIC VISION SYSTEM

1. Robotic vision may be defined as the process of a extracting and interpreting information from ______

a. images b.camera c. 3 dimensional world d.None Answer. a ~end~ 2. In a vision system the image device is ______ a. camera b.ctd c. ccd d.All a b & c Answer. d ~end~ 3. The output of image device is a continuous analog signal that is proportional to______ a. The amount of light reflected from an image b.The amount of light reflected from an object c. The amount of RGB value d.The amount of pixel

Answer. a ~end~ 4. In which illumination technique used for surface defect recognition the light source is ______ a. Specular illumination (light field) b.Specular illumination (dark field) c. Front imager d.Front illuminator Answer. B ~end~ 5. The features of object do not lie in the same plane. For identifying the errors technique used ______ a. Rear illumination condenser b.Front illumination c. Rear illumination (collimeter) d.Rear offset illumination Answer. C ~end~

6. Two dimensional image which is quite adequate for application involving objects lying in one plane the application are _____ a. Measuring & gauging b.Verifying presence of components c. Checking features on a flat surface d.All of them a b & c Answer. a ~end~ 7. The analysis of scene, where contours (or) shapes are invalued the system requiring a ______ a. 3-diamention system b.2-diamention system c. Grey d.None Answer. A ~end~ 8. A sample of image intensity quantized to a integer value. It is called as

_______ a. Pixel b.Syntax c. Algorithm d.Grey scale image Answer. a ~end~ 9. In vision system for the diagnosis of disease _____ images used. a. Tomography b.Syntax c. Algorithm d.Grey scale image Answer. a ~end~ 10. Vision sensor is_____

a. taclite b.Sonar c. Ccd camera

d.Conductive rubber Answer. c ~end~ 11. In tele operation the human to guide a robotic device using a ____ interface. a. high band width b.computer c. control panels d. inter lock Answer. a ~end~ 12. The use of sensors to indicate conditions or events that are unsafe It involves_______________. a. personal trainny b. safety monitory c. barrier guides d. interlocks

Answer. b ~end~ 13. The important social objects robots is to serves for humAnswer by ______________. a. increase productivity b. unsafe working condition c. manufacturing by less cost d. to prevent the economics loss Answer. b ~end~ 14. A device that senses that an object is only a shot distance away and measures how far away it is from the robot its______________.

a. vision camera b.b. proximity detector c. strain gauge d.limit switch

Answer. b ~end~

15. Combining or arranging of safety guards in an order to provide backup safety Features of the robot the level is called_________________.

a. safety guards redundancy b.software limits c. work envelope d.vision safety system Answer. a ~end~

16. In material handling application requires the robot to unstuck parts by removing from the top one. This operation is named________________. a. palletizing

b. depalleizing c.stacking d.processing Answer. b ~end~ 17. In material handling application requires the robot to palletizing & depolarizing Parts by removing from the top one. This operation is named________________. a. palletizing b. depalleizing c. stacking d. processing Answer. a ~end~ 18. The cycle time of the machine may be relatively _________________ compared to the robot cycle time.

a. long b.short c. equal d.both a&c Answer. a ~end~ 19. A device that divides the rotation angle of a shaft into functions of a degree and then reads out the present angle in some binary code the device called. a. ABS optical encoder b.Limit switch c. Proximity d.Resolver Answer. a ~end~

20. The capability of an computer to perform that simulate human intelligence it is called ____________________

a. AI b.fuzylogic c. automation d.machine cell Answer . a ~end~ 21. A device used to detect signal based on the gap between this sensor & non conductive maths the device is ______________ . a. ABS optical encoder b.Capacitive proximity sensor c. Limit switch d.Revolver Answer. B ~end~ 22. The robot controlling the path of a robot manipulator between successive 3-diemension position it is called a. controlled

b.continues path c. contoury d.convolution Answer. c ~end~

8.0 ROBOT SOFTWARE & PROGRAMMING

1. Overall control and co-ordinate of the robot system is called _______ a. Supervisory control b.Task generator c. Arm motion control d.Task interpreter Answer. a ~end~ 2. The step by step execution of the robot task controlled by______ a. Task generation b.Task interpreter c. Arm motion control d.Supervisory control Answer. b ~end~ 3. The commands of these axial motions are given by the operator when the desired position is reached, the stores the co-ordinates of the computer

memory. This process of programming called as_______ a. manual teaching b.lead teaching c. walk through teaching d.offline programming Answer. a ~end~ 4. In a typical teach pendant have control commands trAnswermode used for ________ a. to manipulate the robot b.to run a program c. activated the joint control d.to initialize the robot to known position Answer. a ~end~ 5. In a typical teach pendant have control commands movemode used for _______ a. to manipulate the robot

b.to run a program c. activated the joint control d.to initialize the robot to known position s Answer. c ~end~ 6. In a typical teach pendant have control commands homemode used for _______ a. to manipulate the robot b.to run a program c. activated the joint control d.to initialize the robot to known position Answer. d ~end~ 7. In a typical teach pendant have control commands stepmode used for _______ a. to manipulate the robot b.to run a program c. useful to move the robot though the program one advance at a time

d.to initialize the robot to known position Answer. c ~end~ 8. In a typical teach pendant have control commands zero mode used for _______ a. to manipulate the robot b.to run a program c. useful to move the robot though the program one advance at a time d.allow setting the position register to zero Answer. d ~end~ 9. The robot is major ingredient of ______ a. Cim technology b.Cam technology c. Cadd d.Mrd Answer. a

~end~ 10.For offline robot programming_________ software used . a.igrip b.robcad c.robot studio d.all of above Answer .d ~end~ 11.The manipulator easy to create an environment for programming by using _________ a. manual teaching b.lead teaching c. walk through teaching d.offline programming Answer. d ~end~

12.A central primitive is that for teaching a robot a work point or ________ as 6degrees of freedom by means of interaction with the graphics screen. a.frame b.mouse c.workspace d.toolpoint Answer. a ~end~ 13.An important use of 3D geometry of the object models is in ________ a.for easy to locate desired target b.automatic collision detection c.practical display d.for understanding work environment Answer. b ~end~

9. ROBOTIC SYSTEM DESIGN ASPECTS

1.Torque developed due to armature current = __________ a. Jm=Km Ia b. Em=Ke Q c. Jl d. Ea Answer.a ~end~ 2. armature back emf voltage created __________ a. Jm=Km Ia b. Em=Ke Q c. Jl d. Ea : Q=shaft angle : Q=shaft angle

Answer.b ~end~ 3.Dc motor electrical equation = __________ a. Jm=Km Ia b. Em=Ke Q c. Jl d. Ea Answer.d ~end~ 4. mechanical system = __________ a. Jm=Km Ia b. Em=Ke Q c. Jl d. Ea Answer.c ~end~ : Q=shaft angle : Q=shaft angle

5.In which robot benefits are difficult to quantify_______into cost or savings. a.quality b.productivity c.flexibility d.b & c Answer.d ~end 6.The manipulator ________capacity depends upon the sizing of its structural member,power transmission system and actuators. a.workvolume b.load c.speed d.cycletime Answer.b ~end~

10.0 ROBOTIC APPLICATION

1. SMART actuators __________ a.electrical b.piezo-electric c.SMA shape memory allow d.Both b& c Answer. ~end~ 2. The actuator operates based on electromagnetism __________ a.DC motor b.SMA shape memory allow

c.Electro-pneumatic d.Stepper motor Answer. ~end~ 3. A conductor wire placed inside a magnetic field experience a Lorentz force Fm = electromotive force . Fm = __________ a.2(velocity*magnetic field. b.(current * magnetic field. length c.dQB/dt magnetic flux through coil d.none Answer.b ~end~

4. A conductor spinny inside magnetic field produce a valley it is called___ . a. electro magnetism b.-electromotive force c. back emf force d.lorentz force Answer.c ~end~ 5.. In which actuators can obtain precise control_________. a. Pneumatic b.Hydraulic c. Electric d.smart actuator Answer .c ~end~ 6.. In which actuation capable are high power precession_________.

a. Pneumatic b.Hydraulic c. Electric d.smart actuator Answer .b ~end~ 7. Piezoelectric actuators = a. Pb (zr,ti)o3 b.B.ni,ti c. C.cuzual d.D.both b&c Answer. a ~end~

8. SMA shape memory allow =____________. a. Pb (zr,ti)o3 b.B.ni,ti c.C.cuzual d.D.both b&c

Answer. d ~end~ 9. In which actuator in force wise to human muscle_________. a. Pneumatic b. Sma c.pz7 d. Hydraulic Answer. ~end~ 10. Electro thermal ,electro static sensors is____________. a. A.pz7 b.B.sma c. C. Mems d.D. Tactile Answer .c

~end~ 11. Sensitivity =____________. a. out/in b.out=f(in) c. min out max d.out-actual measurement Answer .a ~end~

12. Linearity=____________. a. out/in b.out=f(in) c. min out max d. out-actual measurement Answer .b ~end~ 13. Range =___________.

a. out/in b.out=f(in) c. min out max d.out-actual measurement Answer.d ~end~ 14. Accuracy=__________. a. out/in b.out=f(in) c. min out max d .out-actual measurement Answer.d ~end~ 15. In which sensor used ultra sonic source__________. a. Ir sensor b.Tactile c. Sonar sensor d.Strain gauae

Answer. C ~end~ 16 .In which sensor detect reflections ___________. a. 4 Ir sensor b.Tactile c. Sonar sensor d.Strain gauae Answer .a ~end~ 17. For distance measurement which sensor used_________. a. A.ir sensor b.B.sonar sensor c. C.laser range finder d.D. All above three Answer.d ~end~

18. Compass sensor based on _________. a. Fluxgate (or )hall effect b.B.doppler effect c. C.reverseeffect d.D.none Answer .a ~end~ 19. Motion sensor for measuring velocity by ____________. a. Fluxgate (or )hall effect b.doppler effect c. reverseeffect d.none Answer .b ~end~ 20. Inertial navigation sensor____________. a. Compass b.B.accelerometers

c. Motion sensors d. All above three Answer .d ~end~ 21. Array of photo diodes is called __________. a. Pixels b.Image prossessing c. Soble operation d.none Answer. a ~end~ 22. Color (or)grey level in each pixel range ___________. a. A.0-256 b.B.0-32 c. C.0-255 d.D.0-7 Answer .b ~end~

23. The purpose of image processing ______________. a. To identify failure in field b.To identify colors c. To identify faces d.Toidentify objects Answer. a ~end~ 24. Stable operation used for _________________. a. Edge detection b.Face detection c. line detection d.Obstracles detection Answer .c ~end~ 25. The robot teach by showing use a ______________. a. Teach pendant

b.Splized language c. Task level programming d.Exipictrobot programming Answer. a ~end~ 26. Explict robot programming use specialized languages are _____________. a. Val,al examples b.Ar _basic c. rapid @abb d.E.karel@7aunc Answer .a ~end~ 27.Robot library with new language used in ibm ____________. a. Ar basic b.Rapid c. Aml d. karel

Answer .C ~end~

28. The reliability of an automated complex system is very important because its ________________ can result a major economic losses. a. failure without prevention b. failure c. breaks down d. UN safe act Answer. a ~end~ 29. The robot consumes________second for per spot welding a.2 b.1

c.1.5 d.2.5 Answer.c ~end~ 30.The automotive compares hane invested robot for spot welding because Of their_____ a.speed b.accuracy c. reliability d. all of these Answer.d ~end~ 31.Spray painting robot is taught by the_______ a. reach through method b. robot online c. robot offline d. none Answer. a

~end~

32.The demerits of painting robot are______ a. constant control b. rapid control c. low repeatability d. all the above Answer.d

~end~ 33.The robot performance criteria for position accuracy parameters criteria For position accuracy parameters are_______ a.nominal load,max load b.cycle time,speed,trAnswerverse time c.repeatability d.path reviation,circle & corner accuracy

Answer.c

~end~ 34.During assembly the ______ is provided in a robot to correct for the lateral and angular errors . a.compliance b.controller c.search algorithm d.software Answer.a ~end~ 35. The compliances can be defined as allowed or initiated movement of the peg for the purpose of _______ a.axial alignment of hole b.scraping painted from a glass pane c.performing surgery d.alignment with hole Answer.d

~end~ 36.Misalignment between the axis of peg and axis of hole ,it may be need to align the hole by_________ compliance. a.lateral compliances b.rotational compliances c.axial compliances d.active compliances Answer.a ~end~ 37.The axis of peg and hole are not parallel ,the assembly of the two will take place by corrected by __________ compliances. a.lateral compliances b.rotational compliances c.axial compliances d.active compliances Answer.b ~end

38.The passive compliances to correct the misalignment error during the assembly,is to use passive mechanical device known as ___________device. a.controller b.sensors force/torque c.remote center compliances(RCC)device d.software Answer.c ~end

11.0 ROBOT MAINTENANCE & SAFETY 1.During spot welding,weld gun tips must be periodically________ to produce high strength weld

a.dreesed b.cleaned c.apply grease d.change the weld tip Answer.a ~end~ 2.An annual maintenance cost is about_________of their acquisition cost for industrial robot. a.11-12% b.10-25% c.10-12% d.50% Answer.c ~end~ 3.The most widely used safety device in robot_______ a. light curtain b.air curtain c. fence

d.safety mat Answer.c ~end~ 4.The most widely used safety device for spot welding station in_________ a.light curtain b.air curtain c.fence d.safety mat Answer.a ~end~ 5.The risk zone could be identified in descending order of risk________,________-&,_________ a.yellow,orange,&red b.orange,yellow,&red c.red,orange,&yellow d.red,yellow,&orange

Answer.c ~end~ 6.Extreme care to avoid contamination in the fluid mecganism for________,________robot. a.servo hydraulic robots b.pnenumatic powered robots c.drive controlled d.none Answer.a ~end~ 7.Extreme care is avoid water seponation for -----------robot

a.servo hydraulic robots b.pnenumatic powered robots c.drive controlled d.none

Answer.b ~end~ 8.OZ of the robots being the highed risk becomes the_______zone. a.red b.yellow c.blue d.orange Answer.a ~end~ 9.the area converted by MRE becomes the_______zone. a.red b.yellow c.blue d.orange Answer.d

~end~ 10.the perameter of the all other areas with in the robot installation will than be designated_______color a.red b.yellow c.blue d.orange Answer.b ~end~ 11.photo electric guarduty done by________sensor. a.fence b.air curtain c.light curtain d.proximity Answer.c ~end~