DENAVIT-HARTENBERG REPRESENTATION

What is the primary purpose of DH parameters in robotics?

• To represent the dynamic properties of a robot

• To describe the mechanical strength of robot joints

• To model the kinematic properties of a robot arm

• To control the power supply to the robot

In the DH parameter convention, how many parameters are used to describe the transformation between adjacent robot links?

• 2

• 3

• 4

• 6

Which DH parameter represents the distance along the common normal between the z-axes of two adjacent links?

• Link length (a)

• Joint angle (θ)

• Link offset (d)

• Link twist (α)

What does the link twist (α) represent in DH parameters?

• The angular position of the robot link

• The orientation of the robot link about the z-axis

• The linear distance between two robot links

• The rate of change of joint angle

In the DH parameter framework, the transformation matrix from one link to another is primarily constructed using:

• Link length (a)

• Joint angle (θ)

• Link offset (d)

• Link twist (α)

What is the primary limitation of using DH parameters to model complex robotic systems, such as highly redundant manipulators?

• DH parameters are computationally inefficient.

• DH parameters cannot handle systems with more than four links.

• DH parameters assume idealized rigid-body behavior.

• DH parameters do not work for mobile robots.

The transformation matrix in the DH parameter framework is used to describe the transformation between _______ robot links.

In DH parameters, the joint angle (θ) usually represents the joint's relative motion. What type of joint is typically associated with a constant θ value throughout its motion range?

• Prismatic joint

• Revolute joint

• Spherical joint

• Planar joint

When solving the forward kinematics problem using DH parameters, which transformation matrix is used to represent the relationship between the base and the end-effector?

• The base-to-end transformation matrix

• The end-effector-to-base transformation matrix

• The joint-to-joint transformation matrix

• The Jacobian matrix

In what circumstances might it be necessary to update or adapt the DH parameters for a robotic system during operation or over time?

• When the robot's power source changes

• When the robot's structural components are replaced

• When the robot's control software is updated

• DH parameters do not typically require updates once established