Robot Kinematics

What is forward kinematics?

• To determine the position of the end-effector

• To determine each joint parameters

• To determine the end-effector and each joint parameters

• To determine the end-effector or each joint parameters

What is inverse kinematics?

• To determine the position of the end-effector

• To determine each joint parameters

• To determine the end-effector and each joint parameters

• To determine the end-effector or each joint parameters.

What are the parameters needed to calculate the forward kinematics?

• Each joint variables and the robot link length

• Each joint variables and the fi nal position

• The robot link length and the fi nal position

• Each joint variables only

What are the parameters needed to calculate the inverse kinematics?

• Each joint variables and the robot link length

• Each joint variables and the final position

• The robot link length and the final position

• Each joint variables only

In robotics analysis we assume the object is located at

• Reference Frame

• Anywhere

• Moving Frame

• None of the answer

The moving frame is represented by

• Yaw-pitch-roll

• Roll-Roll-yaw

• n-o-a

• x-y-z

How to calculate the changes in coordinates if the transformations are:Rot[x,90ᵒ],Translation[3,3,1],Rot[z,90ᵒ]

• The calculation is post-multiplied

• The calculation is a combination of pre and post-multiplied

• The calculation is pre-multiplied

• The calculation can be pre-multiplied or post-multiplied

How to calculate the changes in coordinates if the transformations are:Translation [0,0,1],Rot[x,90ᵒ],Rot[a,90]

• The calculation is post-multiplied

• The calculation is a combination of pre and post-multiplied

• The calculation is pre-multiplied

• The calculation can be pre-multiplied or post-multiplied

How to arrange the transformations relative to both reference frame and moving frame?

• No sequence priority

• Bottom to up only

• Sequence priority: Top to Bottom followed by Bottom to Top

• Sequence priority: Bottom to Top and followed by Top to Bottom

The transformation relative to the moving frame and the reference frame is the same

• YES

• NO