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