NPTEL Advanced Robotics Week 7 Assignment Answers 2025
1. Trajectory is the time history of
- position
- position and velocity
- position, velocity and acceleration
- acceleration and jerk
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2. In order to find the coefficients of a cubic spline, the number of constraints
required are
- one
- two
- three
- four
Answer :-
3. A single joint robotic arm is moving from 0∘ to 180∘ in 10 seconds and is
at rest at start and stop. Fit a cubic polynomial and find the fourth coefficient
(a3) corresponding to the term a3t3
- 0.36
- -0.36
- -5.4
- 5.4
Answer :-
4. In Question 3, the acceleration at the end of the trajectory (at time=10
second) is
- -10.8
- 10.8
- 5.4
- -5.4
Answer :-
5. The practical problem of using a cubic polynomial to represent a trajectory
is that
- there is discontinuity in velocity
- acceleration has constant value throughout the motion
- acceleration is zero at start and stop
- acceleration is not zero at start and stop
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6. The basic definition of a sensor and actuator is they
- convert position to electric signal
- convert energy from one form to another
- filters the electric signals
- amplifies the electric signal
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7. The resolution of angular position measurement by an incremental encoder
can be increased by using
- an encoder and a XOR gate
- an encoder and a NOR gate
- two encoders and a NOR gate
- two encoders and a XOR gate
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8. A sensor which detects the object by sensing the change in magnetic lines
of force is
- incremental encoder
- hall effect sensor
- optical encoder
- force sensor
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9. The force measurement by a force/torque sensor always has some error
because
- gain matrix is singular
- gain matrix is semi positive definite
- gain matrix is non – square
- of inefficient energy transfer
Answer :-
10. Although stepper motors can provide large torques they are not normally
used in robotics due to their weight. Stepper motors are heavy because they
are made of
- ferromagnetic or magnetic materials
- paramagnetic materials
- semi conductor materials
- non conductive materials
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