Trajectory Planning Quiz

What is the primary difference between a path and a trajectory in the context of robotic motion planning?

• Paths involve only position information, while trajectories include both position and velocity information.

• Trajectories are static representations, while paths account for dynamic changes.

• Paths are computed in Cartesian space, whereas trajectories are defined in joint space.

• Trajectories consider only the initial and final points, while paths consider all points along the motion.

When is joint-space trajectory planning preferred over Cartesian-space trajectory planning?

• When precise end-effector positions are required.

• When dealing with redundant robot manipulators.

• When the workspace is constrained.

• When high-level task planning is essential.

In third-order polynomial trajectory planning, what does the third-order term represent?

• Position

• Velocity

• Acceleration

• Jerk

What is a drawback of using high-order polynomials (e.g., fifth-order) in trajectory planning?

• Increased sensitivity to initial conditions.

• Improved numerical stability.

• Reduced computational time.

• Better handling of abrupt changes in trajectory.

What purpose do parabolic blends serve in linear segment trajectory planning?

• Ensuring constant acceleration.

• Smoothing out abrupt velocity changes.

• Minimizing energy consumption.

• Eliminating the need for via points.

How do via points influence trajectory planning with linear segments and parabolic blends?

• They introduce discontinuities in the trajectory.

• They act as additional constraints to guide the motion.

• They slow down the robot's movement.

• They have no impact on trajectory planning.

What is a potential drawback of continuous trajectory recording in real-time applications?

• Increased accuracy in trajectory execution.

• Higher computational demands for trajectory generation.

• Improved resistance to external disturbances.

• Limited adaptability to changes in the environment.

In Cartesian-space trajectory planning, what is a challenge when dealing with singularities?

• Increased computational efficiency.

• Difficulty in ensuring joint limits are not violated.

• Improved end-effector accuracy.

• Reduced sensitivity to external disturbances.

What is a benefit of continuous trajectory recording in robotic applications?

• Reduced memory usage.

• Simplified inverse kinematics calculations.

• Seamless execution of complex motions.

• Improved collision avoidance.

What is a limitation of using linear segments with parabolic blends for trajectory planning?

• Difficulty in achieving smooth velocity profiles.

• Inability to handle changes in orientation.

• High computational complexity.

• Lack of adaptability to dynamic environments.