Introduction to Robotics: Final Exam Sample Questions
Chapter: Representing Position and Orientation
Briefly describe representing “pose” in two-dimensions.
Describe how “pose” of a rigid object can be described in three-dimensions.
In relation to multiples rotations of objects in three-dimensions, illustrate graphically
the non-commutivity property of rotation (i.e. the same rotations giving rise to
different orientations when applied in different order).
Briefly describe (with necessary diagram) composition of Rotations with respect to current
frame.
Briefly describe (with necessary diagrams) Composition of Rotations with respect to current
and fixed frames.
In relation to parameterization of rotation, describe Euler Angles and Roll-Pitch-Yaw
Angles.
Chapter: Robot Arm Kinematics
What is meant by “Forward Kinematics” in robotics?
Formulate “forward kinematics” with reference to a simple two-dimensional two-joint
planner robotic arm.
Describe the Denavit–Hartenberg parameters with regards to forward kinematics in robotics
once the link frames have been established.
How do you establish the link coordinate frames using Denavit-Hartenberg Convention?
Outline the steps with necessary diagram.
Identify the instances when the Denavit–Hartenberg convention gives a nonunique
definition of the link frames.
Outline, with necessary diagram, the steps in assigning link frames using Denavit-Hartenberg
convention.
Summarize the concept of “inverse kinematics” in robotics.
Given the pose of the end effector in world coordinate, describe the method to
determine the required joint angles to obtain the pose.
Chapter: Manipulator Velocity Kinematics
Outline the significance of the Jacobian Matrix in terms of Singularity and Manipulability in
robotics.
Define “under-actuated-” and “redundant manipulators”
Define “geometric Jacobian” and “analytical Jacobian”.
Chapter: Time and Motion
Define “path” and “trajectory.
What are the important characteristics of a trajectory generating function?
What is the necessity of trajectory generation in robotics?
Describe how a polynomial function can be used in trajectory generation.
Why is a LSPB trajectory referred to as a hybrid trajectory?
Discuss, with necessary diagrams, the reasons of preferring LSPB over polynomial generated
trajectories.
Describe multidimensional trajectory generation in robotics.
Chapter: Independent Joint Control
What is “independent joint control”? Mention few challenges it encounters.
Discuss various types frictions typically present in a robotic joint.
Draw the key components of a robot joint actuator with appropriate labelling of the
associated parameters.
What are the advantages and disadvantages of using a gearbox with electric motors
at robot joints? How does it affect various robot joint parameters?
Discuss the effect of link masses in a robotic arm. Use illustrative diagrams as required.
Outline the roles of the loops in the independent joint control structure.
Draw, with appropriate labelling, detailed schematic block diagrams related to independent
joint control of a robot.
Discuss the effect of gravity variation on the tracking performance of velocity control loop
for the second joint of a Puma 560 robot. How can the issue be addressed?
