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IR-TI - Assignment 4 Solution

This document appears to be an assignment or quiz on industrial robotics theories and implementation. It contains 10 multiple choice questions testing knowledge of topics like homogeneous transformation matrices, degrees of freedom, Denavit-Hartenberg parameters, and industrial robot specifications. The questions cover concepts relating to representing rigid body positions and orientations, transforming forces and points in 3D space, and properties of rotation matrices.

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Madhu Amith
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46 views

IR-TI - Assignment 4 Solution

This document appears to be an assignment or quiz on industrial robotics theories and implementation. It contains 10 multiple choice questions testing knowledge of topics like homogeneous transformation matrices, degrees of freedom, Denavit-Hartenberg parameters, and industrial robot specifications. The questions cover concepts relating to representing rigid body positions and orientations, transforming forces and points in 3D space, and properties of rotation matrices.

Uploaded by

Madhu Amith
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ASSIGNMENT 4

Industrial Robotics: Theories for Implementation


Dr. Arun Dayal Udai, IIT (ISM) Dhanbad

1. Which of the following statement is true?


a. Euler Angle can represent the position and orientation of a rigid body in space
b. A homogeneous transformation matrix can transform a force vector in 3D Space
c. The inverse of a rotation matrix is equal to the rotation matrix itself
d. A spherical joint has two degrees of freedom

Correct Answer: b

2. What is the angle of the twist for the first link (Brown)?

a. 0
b. 90
c. 180
d. -90

Correct Answer: b

3. How many Degrees of Freedom the given mechanism has?

a. 3
b. 1
c. 2
d. None of these

Correct Answer: c

4. Which of the following statement is true for points (x, y, z) where a, e, and j are positive numbers?

a. (x, y, z) is translated.
b. (x, y, z) is rotated.
c. (x, y, z) is reflected.
d. (x, y, z) is scaled.

Correct Answer: d

5. Which of the following statements with reference to the orientation of the frame F (u, v, w) with
respect to the base frame (x, y, z) as given below is true?

a. Such orientation of the frame is not possible


b. u is directed along the positive z-axis
c. v is directed along the negative x-axis
d. w remains unchanged and is aligned along the z-axis

Correct Answer: c

6. Which of the following statements is true with reference to the transformation of UFV with respect to
fixed frame XOY?
a. The diagonal element of the homogeneous transformation matrix is (√3/2, √3/2, 1, 0)
b. The last column of the homogeneous transformation matrix is [-2, -1, 0, 1]
c. The third column and row of the homogeneous transformation matrix is [0, 1, 0, 0]
d. The determinant of the 3x3 square sub-matrix (upper-left) representing its orientation is unity

Correct Answer: d

Solution: The determinant of any rotation matrix is unity.

7. Consider the following statements regarding the homogeneous coordinate transformations matrix:
(a) A homogeneous transformation matrix can be considered to consist of four sub-matrices.
(b) The upper left 3 x 3 sub-matrix represents the position vector.
(c) The upper right 3 x1 sub-matrix represents the rotation matrix.
(d) The lower left 1 x 3 sub-matrix represents perspective transformation.

Which of the above statements is correct?


a. (a) and (c)
b. (a) and (d)
c. (b) and (c)
d. (b) and (d)

Correct Answer: b

8. What does 12 represent in the Yaskawa GP-12 Industrial Robot?


a. Payload
b. Degree of Freedom
c. No. of Joints
d. Weight of Robot

Correct Answer: a

9. The following matrix represents rotation about?


𝑐𝑜𝑠𝜃 𝑠𝑖𝑛𝜃 0
𝑅 = [−𝑠𝑖𝑛𝜃 𝑐𝑜𝑠𝜃 0]
0 0 1
a. X-axis
b. Z-axis
c. Y-axis
d. None of these

Correct Answer: b
10. Which of these is not a D-H parameter?
a. Link Length 𝑎𝑖
b. Joint Offset 𝑑𝑖
c. Joint Twist 𝒒𝒊
d. Link Twist 𝛼𝑖

Correct Answer: c

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