Robotics - - Unit 6 - Week 5: https://onlinecourses.nptel.ac.in/noc18_me61/un...

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Unit 6 - Week 5:

Course outline Week 5 : Assignment 5

How to access the portal The due date for submitting this assignment has passed. Due on 2018-09-12, 23:59 IST.
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Week 1:
1) 1. Inverse dynamics problem aims to 1 point

Week 2:
(a) determine the joint torques for the given values of joint angles, velocities and accelerations.
Week 3: (b) determine the joint angles, velocities and accelerations for the given values of joint torques.

Week 4: (c) determine the position and orientation of end-effector of a robot for the known values of joint angles.

(d) determine the joint angles for the known position and orientation of the end-effector with respect to base coordinate system.
Week 5:
No, the answer is incorrect.
Lecture 24 : Robot Score: 0
Dynamics
Accepted Answers:
Lecture 25 : Robot (a) determine the joint torques for the given values of joint angles, velocities and accelerations.
Dynamics (Contd.)
2) Product of inertia is 1 point
Lecture 26 : Robot
Dynamics (Contd.)
(a) always a positive quantity.
Lecture 27 : Robot
Dynamics (Contd.)g (b) always a negative quantity.

Lecture 28 : Robot (c) always found to be equal to zero.

Dynamics (Contd.)
(d) either a positive or a negative or zero
Lecture 29 : Robot
Dynamics (Contd.) No, the answer is incorrect.
Score: 0
Lecture Materials
Accepted Answers:
Quiz : Week 5 : (d) either a positive or a negative or zero
Assignment 5
3) Lagrangian of a robotic system is defined as 1 point
Feedback for Week 5

Week 6: a. Kinetic Energy (KE) + Potential Energy (PE)

b. KE – PE
Week 7:
c. KE × PE
Week 8:
KE
Download Videos
d. PE

No, the answer is incorrect.

Text Transcripts Score: 0
Accepted Answers:
Assignment Solution
b. KE – PE
Interactive Session with 4) Fig. 1 shows a 1 dof manipulator arm of circular cross-section having the diameter d. The length of the arm is denoted by L and its 1 point
Students
mass m is assumed to be located at its mass-center. g represents the acceleration due to gravity.

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1 of 4 Tuesday 16 October 2018 05:05 PM

Robotics - - Unit 6 - Week 5: https://onlinecourses.nptel.ac.in/noc18_me61/un...

Fig.1. One dof manipulator.

Its joint torque τ is determined as follows:

No, the answer is incorrect.

Score: 0
Accepted Answers:

5) For a robotic link of rectangular cross-section, Inertia tensor is represented as follows: 1 point

⎡ 12 0 ⎤
ma2
0 0
⎢ ⎥
⎢ 0 ⎥
a. ⎢ 2 ⎥
ml2
0 − ml
⎢ ⎥
3
⎢ 0 0 ⎥
⎢ ⎥
mb2
0
⎣ 0 m ⎦
12
− ml
2
0

⎡ 3 0 ⎤
ma2
0 0
⎢ ⎥
⎢ 0 ⎥
b. ⎢ ⎥
ml2
0 ml

⎢ ⎥
12 2
⎢ 0 0 ⎥
⎢ ⎥
mb2
0
⎣ 0 m⎦
3
− ml
2
0

⎡ 3 0 ⎤
ma2
0 0
⎢ ml ⎥
⎢ 0 ⎥
c. ⎢ 2 ⎥
ml2
0 −
⎢ ⎥
2
⎢ 0 0 ⎥
⎢ ⎥
mb2
0
⎣ 0 m ⎦
3
− ml
2
0

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Robotics - - Unit 6 - Week 5: https://onlinecourses.nptel.ac.in/noc18_me61/un...

⎡ 2 0 ⎤
ma2
0 0
⎢ ml ⎥
⎢ 0 ⎥
d. ⎢ 2 ⎥
ml2
0 −
⎢ ⎥
12
⎢ 0 0 ⎥
⎢ ⎥
mb2
0
⎣ 0 m ⎦
3
− ml
2
0
No, the answer is incorrect.
Score: 0
Accepted Answers:

⎡ 12 0 ⎤
ma2
0 0
⎢ ⎥
⎢ 0 ⎥
a. ⎢ 2 ⎥
ml2
0 − ml
⎢ ⎥
3
⎢ 0 0 ⎥
⎢ ⎥
mb2
0
⎣ 0 m ⎦
12
− ml
2
0
6) Robotic joint torque (neglecting friction terms) consists of 1 point

(a) inertia terms only

(b) Coriolis and centrifugal terms only

(c) Gravity terms only

(d) inertia, Coriolis, centrifugal and gravity terms

No, the answer is incorrect.

Score: 0
Accepted Answers:
(d) inertia, Coriolis, centrifugal and gravity terms

7) Coriolis force occurs whenever 1 point

(a) a link rotates about a joint.

(b) a link slides through a joint.

(c) a rotary link contains a sliding component.

(d) None of the above

No, the answer is incorrect.

Score: 0
Accepted Answers:
(c) a rotary link contains a sliding component.

8) Let us consider a 2 dof serial manipulator, as shown in Fig. 2. Here, L1 and L2 are the lengths of the links; θ 1 and θ 2 are the joint 1 point
angles; τ1 and τ2 are the joint torques.

Fig. 2: A 2 dof serial manipulator.

Which one of the following statements is TRUE?

a. τ1 depends on θ 1 but not θ2 .

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Robotics - - Unit 6 - Week 5: https://onlinecourses.nptel.ac.in/noc18_me61/un...

b. τ2 depends on θ2 but not θ1

c. Both τ1 andτ2 are dependent on θ1 andθ2

d. None of the above statements is correct.

No, the answer is incorrect.

Score: 0
Accepted Answers:
c. Both τ1 andτ2 are dependent on θ1 andθ2
9) For the linear and rotary robotic joints, our aim is to determine 1 point

(a) Joint forces and torques, respectively

(b) Joint torques and forces, respectively

(c) Joint forces only

(d) Joint torques only

No, the answer is incorrect.

Score: 0
Accepted Answers:
(a) Joint forces and torques, respectively

10) Moment of inertia can be 1 point

(a) either positive or negative

(b) positive always

(c) negative always

(d) zero

No, the answer is incorrect.

Score: 0
Accepted Answers:
(b) positive always

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