NPTEL Advanced Robotics Week 10 Assignment Answers 2025
1. A single robot is controlled by a PD compensator. The closed loop char- acteristic polynomial is Js2+(Bc+KKD)s+KKp For all positive values of Kp and KD this system is
- unstable
- stable
- globally asymptotically stable
- none of the above
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2. For the above system, the steady state error is
- directly proportional to dynamic torque and inversely proportional to Kp
- directly proportional to dynamic torque and directly proportional to Kp
- inversely proportional to dynamic torque and directly proportional to Kp
- inversely proportional to dynamic torque and inversely proportional to Kp
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3. A single joint robot is controlled by a PID compensator. This system can
become unstable for some values of
- Kp
- KI
- KD
- none of the above
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4. In the feedforward control method the
- dynamic torque is computed offline and fed forward
- dynamic torque is computed online and fed forward
- dynamic torque is computed either online or offline and fed forward
- dynamic torque is computed either online or offline and fed back
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5. In the drive train dynamics for series elastic actuators, an elastic element
is introduced in between the motor and link. The open loop characteristic
equation is given by JlJms4+K(Jl+Jm)s2 This has
- only a pair of complex conjugate poles
- two roots/poles in the right half plane and a pair of complex conjugate poles
- two roots/poles at origin and a pair of complex conjugate poles
- two roots/poles in the left half plane and a pair of complex conjugate poles
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6. The system in Q5 is controlled by a PD compensator/controller. If the
feedback is taken from the motor end, the system is always
- unstable
- stable
- globally asymptotically stable
- either stable or unstable
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7. While controlling forces in a constrained task the constraints that result
from the mechanical and geometric characteristics of the task configuration are
called
- arithmetic constraints
- artificial constraints
- natural constraints
- relative constraints
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8. While turning a vertical screw with a screw driver the force applied in the
vertical direction (Z direction is pointing upwards along the axis of the screw)
is a
- arithmetic constraints
- artificial constraints
- natural constraints
- relative constraints
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9. In a grasping application with a multifinger hand, we are required to grasp
an object. For this a hybrid control system is used. This would allow the control
of
- only motion
- only force
- force or motion
- none of these
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10. A robot and a human are grasping and carrying an object together. The
human is the leader and moves the object. The robot senses the force and
follows the motion. This relation between force and motion can be represented
by a
- force control model
- impedance control model
- motion control model
- trajectory planning model
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