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Robótica Industrial – 5th, May 2017

Duration: 45 minutes

Name: _________________________________________________________________________________

- Write the full name on the sheet

- Each wrong answer deducts a third in the quotation
- There is only one right answer on each question
- Multiple answers are allowed

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
a) X X
b) X X X X X X
c) X X X X X X X X X X
d) X X

1. Spherical interpolation between two quaternions (SLERP - Spherical Linear Interpolation) has advantages
over linear interpolation because:

a. It is faster and simpler to calculate.

b. Results in a transition at a constant angular velocity.
c. Avoids manipulator singularities.
d. It uses the function atan2 (y, x) instead of the tan (y / x) function.

2. In the inverse kinematics (tool position ) of a manipulator with 3 rotative joints (anthropomorphic) and
deviated shoulder:

a. There is an ambiguity with two possible solutions (elbow up or down).

b. There are no ambiguities.
c. There is an ambiguity with 6 possible solutions.
d. There is an ambiguity with 4 possible solutions.

3. The rotation matrix relating to the composition of a rotation sequence around a fixed reference frame is
obtained:

a. Multiplying to the right the successive matrices of each of the rotations.

b. Using quaternions (the only way).
c. Multiplying to the left the successive matrices of each of the rotations.
d. Using an axis / angle representation.

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4. A matrix that represents the rotation between two references:

a. It is obtained by analyzing the translation between the origins of the two references.
b. It is obtained by expressing the versors (unit frame vectors) of one reference in the other reference.
c. It is always a diagonal matrix.
d. It is always a skew simmetric matrix.

5. The Jacobian of a manipulator:

a. Relates joint velocities with the linear and angular velocities of its tool frame.
b. Relates the coordinates in the tool frame with the coordinates in the base frame.
c. Relates joint forces with the linear and angular velocities of the tool frame.
d. Relates joints torques with the linear and angular velocities of the tool frame.

6. Any homogeneous transformation can be represented by:

a. 4 numbers.
b. 4 numbers is we use the DH method.
c. Not less than 6 numbers even using the DH method.
d. 5 numbers.

7. The pneumatic actuation:

a. It has high torque and high cost.

b. It has high torque and precision of operation.
c. It has relatively low cost and easy maintenance.
d. Can not maintain high torque when stopped.

8. For the definition of a work reference in a manipulator it is necessary to indicate:

a. 3 collinear points.
b. 3 points that define two orthogonal vectors.
c. 3 non-collinear and equidistant points.
d. 4 or more points for greater accuracy.

9. The basic idea of force control is:

a. Achieving high forces during manipulator tasks.

b. Always keep the actuation force low for safety reasons.
c. Adjust apparent inertia, viscosity and stiffness.
d. Increase manipulator elasticity.

10. For the same length of the segments, the working volume of a SCARA manipulator (RRP) is:

a. Greater than the anthropomorphic manipulator (RRR)

b. Smaller than a Cartesian manipulator (PPP)
c. Larger than a Cartesian manipulator (PPP) and smaller than the anthropomorphic manipulator (RRR)
d. Same as a cylindrical manipulator (RPP)
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11. The manipulability:

a. It is related to the work volume of the manipulator.

b. It is not related to the Jacobian of manipulating.
c. It is related to the Jacobian's manipulator and is proportional to the absolute value of its
determinant.
d. It is related to the maximum force of the manipulator actuators.

12. One may determine an approximate model of the dynamics (transfer function) of a motor joint plus load of a
manipulator is through:

a. Registration of different speeds for different applied voltages.

b. Response to a voltage step from the stop position.
c. Response to sudden change of applied voltage within the range of tensions outside the saturation
and the dead zone.
d. Response to the application of the maximum motor voltage..

13. For the motor speed control manipulator joint:

a. The best controller is a PID.

b. The PI controller is the most appropriate.
c. The PID controller can have zero error for constant references.
d. Is sufficient a proportional controller.

14. For the integral controller action:

a. If not limited can become an unstable and uncontrollable system.

b. It is always beneficial and should always be active to cancel the steady-state error.
c. Should be granted whenever there are oscillations.
d. It should be granted whenever there is saturation in the control variable.

15. To minimize the occurrence of overshoot in response to rapid changes in reference we should:

a. Always use the prototype Bessel.

b. Choose properly damped poles, with anti-windup in integral action and filtering reference to cancel
the zeros of the transfer function in closed loop.
c. Limiting the integral action and filter the reference to cancel complex and poorly damped poles of
the transfer function in closed loop.
d. Increase the controller gain.

16. During the simulation, the calculation from the input of the transfer function (the motor applied voltage) to
the output (joint position impulses):

a. We must take into account the number of bits of the D / A converter + Drive to compensate for the
difference in voltage range and D / A range conversion.
b. We must apply a filter in reference.
c. One should take into account the control period to calculate the derivative.

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d. One should take into account the control period Tc, adding a gain block (1 / Tc) to convert pulses /
cycle pulses / sec.

17. In implementing the controller in the real system:

a. We must take into account the number of bits of the D / A converter + Drive to compensate for the
difference in voltage range and conversion D / A range.
b. It is mandatory to implement a filter on the reference.
c. The simulator code can be used without any modification.
d. You only need to translate the Pascal to C language.

18. The cascade joint position controller:

a. It should only be used if we have two distinct sensors, one for the position and another for speed.
b. It has a slower response.
c. Can achieve a lower error in steady state (constant input) and is more linear.
d. The design of the controller is more complex.

19. The Bessel prototype was used for:

a. Dimensioning the controller so as to have a null error for constant reference.

b. Choose the closed-loop poles of the speed controllers and position.
c. Choose the closed-loop poles of the position controller.
d. Choose the closed-loop poles of the velocityn controller.

20. The IMC method for calibrating the speed controller:

a. Is based on the gain and time constant for the motor + load and time constant for desired closed
loop.
b. It relies on the Bessel prototype with a desired settling time.
c. Results in a PID controller with gain, integral time and derivative time
d. It can also be applied to position control.

21. In speed control:

a. A proportional controller is sufficient to have null error at constant references.

b. With a proportional controller is we increase the gain more oscillations we have and has more
steady state error to constant references.
c. With a proportional controller is we increase the gain more oscillations we have and has less steady
state error to constant references.
d. It is necessary a PID controller with gain, integral time and derivative time.