Robotics for Electrical Engineers: Master the Fundamentals

Question 1

What is the primary purpose of the Denavit-Hartenberg (DH) convention in robotics?

Accepted Answer

Assigning coordinate frames to robot links

Answer

Determining the position and orientation of a robot end-effector

Answer

Calculating the velocity and acceleration of robot joints

Answer

Designing the trajectory of a robot arm

Question 2

Which type of robot control architecture relies on a central controller to manage all robot operations?

Accepted Answer

Hierarchical control

Answer

Decentralized control

Answer

Hybrid control

Answer

Fuzzy logic control

Question 3

What is the main objective of using a PID controller in a robot control system?

Accepted Answer

To minimize steady-state error

Answer

To improve system stability

Answer

To increase response time

Answer

To optimize energy efficiency

Question 4

What is the primary function of a robot actuator?

Accepted Answer

To convert electrical or hydraulic energy into mechanical motion

Answer

To provide feedback on the position and velocity of robot joints

Answer

To process sensory information and make decisions

Answer

To store and retrieve data

Question 5

Identify the element that is not considered a fundamental aspect of robot kinematics.

Accepted Answer

Robot dynamics

Answer

Link lengths

Answer

Joint positions

Answer

Robot geometry

Question 6

Which robot control structure involves a central controller coordinating multiple robot actuators?

Accepted Answer

Centralized control

Answer

Decentralized control

Answer

Hybrid control

Answer

Proportional control

Question 7

Specify the primary benefit of using fuzzy logic in the context of robot control.

Accepted Answer

Enhanced resilience to uncertainty

Answer

Reduced computational complexity

Answer

Improved accuracy

Answer

Faster response times

Question 8

Consider a robot with a joint space trajectory q(t). Which equation represents the robot's end-effector velocity?

Accepted Answer

v(t) = J(q(t)) * q'(t)

Answer

v(t) = J'(q(t)) * q(t)

Answer

v(t) = J(q(t)) * q'(t) + J'(q(t)) * q(t)

Answer

v(t) = J'(q(t)) * q'(t)

Question 9

Explain how machine learning and artificial intelligence contribute to the advancement of robot control techniques.

Accepted Answer

Machine learning and AI allow robots to adapt to varying environments and execute complex tasks by leveraging data-driven learning.

Answer

Machine learning and AI are exclusively employed for robot navigation and obstacle avoidance.

Answer

Machine learning and AI fully replace conventional control methods in robotics.

Question 10

Which of the following is not a type of robot kinematic model used to describe the spatial relationship between robot segments?

Accepted Answer

Euler-Lagrange

Answer

Denavit-Hartenberg (D-H)

Answer

Modified Denavit-Hartenberg (MDH)

Answer

Screw theory

Question 11

What is the primary purpose of a Jacobian matrix in robot kinematics?

Accepted Answer

To transform velocity from joint space to Cartesian space

Answer

To compute robot dynamics

Answer

To control robot motion

Answer

To model robot geometry

Question 12

What is the primary function of a robot actuator?

Accepted Answer

To control robot motion by generating forces or torques

Answer

To supply power to the robot

Answer

To sense robot state information

Answer

To compute robot trajectories

Question 13

Underactuated robots possess a unique characteristic. Which of the following accurately describes underactuated robots?

Accepted Answer

They have more degrees of freedom than actuators, resulting in a challenging control problem

Answer

They are inherently unstable and cannot maintain their balance

Answer

They are incapable of performing complex tasks due to limited control authority

Answer

They require extremely complex control algorithms to function properly

Question 14

What is the primary purpose of a robot trajectory generator?

Accepted Answer

To generate smooth and feasible paths for the robot to follow

Answer

To control robot motion in real-time

Answer

To estimate robot state based on sensor data

Answer

To model robot dynamics and simulate its behavior

Question 15

In robotics, which fundamental principle focuses solely on describing robot motion, disregarding external forces or moments?

Accepted Answer

Kinematics

Answer

Dynamics

Answer

Control

Answer

Simulation

Question 16

For real-time robot motion control, which control algorithm is commonly employed?

Accepted Answer

PID control

Answer

Fuzzy logic control

Answer

Neural network control

Answer

Genetic algorithm control

Question 17

For developing robot software, a commonly used platform is:

Accepted Answer

Robot Operating System (ROS)

Answer

C++

Answer

Python

Answer

MATLAB

Question 18

Compared to fixed robots, the main advantage of mobile robots is:

Accepted Answer

Enhanced adaptability and independence

Answer

Greater precision and accuracy

Answer

Reduced maintenance expenses

Answer

Improved safety measures

Question 19

What is the key distinction between a serial robot and a parallel robot?

Accepted Answer

Serial robots have an open-chain structure while parallel robots have a closed-chain structure

Answer

Serial robots offer greater flexibility while parallel robots provide higher accuracy

Answer

Serial robots are primarily used in manufacturing while parallel robots are used in research

Answer

Parallel robots have a larger payload capacity than serial robots

Question 20

The Denavit-Hartenberg (DH) parameters are primarily used to:

Accepted Answer

Describe the relative position and orientation of robot joints

Answer

Calculate the velocity and acceleration of a robot

Answer

Control the motion of a robot

Answer

Design the mechanical structure of a robot

Question 21

The Jacobian matrix of a robot manipulator is utilized to:

Accepted Answer

Relate joint velocities to end-effector velocities

Answer

Calculate the forces and moments at the joints

Answer

Determine the stability of a robot

Answer

Plan robot trajectories

Question 22

In mobile robotics, which sensor is frequently used for localization?

Accepted Answer

Inertial Measurement Unit (IMU)

Answer

Camera

Answer

Ultrasonic sensor

Answer

Laser rangefinder

Question 23

The purpose of the Inverse Kinematics Problem (IKP) is to:

Accepted Answer

Find the joint angles that achieve a desired end-effector position and orientation

Answer

Calculate the end-effector position and orientation from given joint angles

Answer

Determine the path of the end-effector through space

Answer

Optimize the trajectory of a robot

Question 24

Which of the following is NOT a common application of robotics in healthcare?

Accepted Answer

Financial management

Answer

Surgical assistance

Answer

Rehabilitation

Answer

Drug delivery

Question 25

The Unified Robot Description Format (URDF) is primarily used for:

Accepted Answer

Describing the physical structure and kinematics of a robot

Answer

Generating robot control code

Answer

Simulating robot behavior

Answer

Designing robot hardware

Question 26

Which component is NOT fundamental to a robot's construction?

Accepted Answer

Microbiology

Answer

Kinematics

Answer

Dynamics

Answer

Control algorithms

Question 27

In robotics, what is the primary function of the Jacobian matrix?

Accepted Answer

Converting joint velocities into Cartesian velocities

Answer

Computing a robot's inverse kinematics

Answer

Representing a robot's dynamics model

Answer

Controlling a robot's trajectory

Question 28

Which characteristic is crucial to a well-engineered robotic system?

Accepted Answer

A combination of the above

Answer

Precise and accurate outcomes

Answer

Affordability and simplicity

Answer

Ease of maintenance and repair

Question 29

What are the advantages of a differential drive robot?

Accepted Answer

Enhanced maneuverability and cost-effectiveness

Answer

Increased speed and extended battery life

Answer

High payload capacity and rugged construction

Answer

Simple design and low maintenance requirements

Question 30

In robotics, a closed-loop control system primarily offers which advantage?

Accepted Answer

Enhanced accuracy and reduced sensitivity to external disturbances.

Answer

Faster response time and improved stability.

Answer

Reduced cost and complexity of implementation.

Answer

Increased flexibility and adaptability.

Question 31

What is the primary purpose of homogeneous transformation matrices in robot kinematics?

Accepted Answer

To represent the position and orientation of robot links.

Answer

To solve forward and inverse kinematics equations.

Answer

To determine the joint angles of a robot.

Answer

To control the robot's motion.

Question 32

What is the primary function of a robot actuator?

Accepted Answer

Converting electrical energy into mechanical motion.

Answer

Sensing the robot's position and orientation.

Answer

Processing sensory information.

Answer

Planning and controlling robot actions.

Question 33

What is the primary advantage of using a differential drive system in mobile robots?

Accepted Answer

It enables the robot to rotate in place.

Answer

It provides enhanced traction on uneven surfaces.

Answer

It simplifies the design of the robot's control system.

Answer

It increases the overall speed of the robot.

Question 34

What is the main purpose of using Robot Operating System (ROS)?

Accepted Answer

Providing a standardized framework for developing robot software.

Answer

Controlling the robot's hardware components.

Answer

Planning and executing robot actions.

Answer

Simulating the behavior of robots.

Question 35

Which of the following is NOT a primary element of robotics?

Accepted Answer

Electromagnetism

Answer

Kinematics

Answer

Dynamics

Answer

Control Algorithms

Question 36

What is the purpose of a robot's end effector?

Accepted Answer

Holding objects and tools

Answer

Sensing the environment