Module 4 - HEART

#1. Which of the following sentences are true in Denavit-Hartenberg notation? Choose all correct answers:

Select all that apply:

The X axis of the given coordinate frame is normal to the Z axes of the current and previous frames.

The Z axes of successive coordinate frames are the axes of consecutive robot joints.

The X axes of successive coordinate frames are the axes of consecutive robot joints.

The Z axis of the given coordinate frame is normal to the X axes of the current and previous frames.

#2. This figure shows the use of the D-H notation for the joints and links of the manipulator. Select all true sentences.

Select all that apply:

Parameter d is variable for the prismatic joint.

Parameter a is variable for the prismatic joint.

Theta parameter is always constant and depends on the construction of the joint.

Among the 4 parameters shown in the figure, three are always constant and depending on the construction of the manipulator.

Among the 4 parameters shown in the figure, only one depends on the construction of a joint.

Alpha parameter is always constant and depends on the construction of the manipulator.

#3. The homogeneous transformation matrix…

defines the relation between two coordinate frames.

is the square 3x3 matrix defining the rotation of two coordinate frames.

shows the solution of the inverse kinematics problem in robotics.

#4. The homogeneous transformation matrix (shown below), describing the single joint of the manipulator, …

is always a function of joint variable Thetai.

is a function of joint variable ai.

can be a function of di or i depending on the type of joint.

#5. For the scheme shown below (application of the coordinate frames according to D-H notation) which parameter is measured along the X2 axis?

#6. The URDF format can describe:

The shape of robotic links

The type and limits of robotic joints

The mass parameters of robotics links

All above

Only a. and b. answers are correct

#7. After analysing the URDF model provided in [10], do you think that authors are strictly following the transformations according to D-H notation?

YES, the joint transformations are strictly matching the D-H notation and joint variables are always related to the Z axis of the local coordinate frame.

NO, the joint transformations are limited to translations only and the correct axis of the joint variable is chosen by an axis element in joint definition, therefore, not always it is related to the Z axis of the local coordinate frame.

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Robotics as an Innovative Educational Technology

Teaser

Video overview

#1. Which of the following sentences are true in Denavit-Hartenberg notation? Choose all correct answers:

#2. This figure shows the use of the D-H notation for the joints and links of the manipulator. Select all true sentences.

#3. The homogeneous transformation matrix…

#4. The homogeneous transformation matrix (shown below), describing the single joint of the manipulator, …

#5. For the scheme shown below (application of the coordinate frames according to D-H notation) which parameter is measured along the X2 axis?

#6. The URDF format can describe:

#7. After analysing the URDF model provided in [10], do you think that authors are strictly following the transformations according to D-H notation?

Results

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