Hindusthan College of Engineering And Technology

Approved by AICTE, New Delhi, Accredited with ‘A’ Grade by NAAC

(An Autonomous Institution, Affiliated to Anna University, Chennai)
Coimbatore – 641 032
ACADEMIC YEAR 2020-2021
QUESTION BANK FOR FIRST INTERNAL
BRANCH: MECHATRONICS ENGINEERING DEPARTMENT
COURSE CODE AND NAME : 16MT7202 and Robotics and Machine Vision
CLASS/SEMESTER: IV /VII

UNIT-I FUNDAMENTALS OF ROBOTICS

1. The purpose of control provide inputs for the robot joint actuators. In order to accomplish a
task with __________(CO2)

a. robot control system

b. end effectors
c. motor control
d. mechanical system

2 Robot tasks in basic types __________(CO2)

a. un constrained free motion of tool

b. constrained motion application of forces to the environment
c. combination of a & b
d. all above

3 The robot finding the path. This process is called __________

a. trajectory planning
b. trajectory generation
c. trajectory description
d. none

4 The robot act of computing a trajectory as a time sequence or value in a real time is called
__________

a. trajectory planning
b. trajectory generation
c. trajectory description
d. none

5. A pure geometric statical description or the motion is called__________

a. path
b. trajectory
c. via points
d. spline

6 A path with specified quality of motion that in a path on which a time law is Specified in
terms of velocities and acceleration at each point is called __________

a.path
b.trajectory
c.via points
d.spline

7 The set of intermediate location between the set of the start goal points. On a trajectory is
called as __________

a.path
b.trajectory
c.via points
d.spline

8 The smooth functions that passes through the set of via points. It is called __________

a.path
b.trajectory
c.via points
d.spline

 9. The PUMA robot path update rate is __________

a.560 hz
b.56 hz
c.5600 hz
d.none

 10. The collision free path obtain from __________trajectory planning

a.Cartesian space
b.Joint space
c.Trajectory space
d.None
 11 In which method trajectory planning has computating at complexity __________

a.Cartesian space
b.Joint space
c.Trajectory space
d.None

 12 What are criteria for controller selection __________

a.stability
b.performance
c.both
d.none

 13 The definition for is the determination of all possible and feasible sets of joint
variables, which would achieve the specified position and orientation of the manipulator’s end
effector with respect to the base frame.

a. inverse kinematics
b. forward kinematics
c. indirect kinematics
d. none

 14 The region that can be reached by the origin of the end effector frame with at lest one
orientation is called .

a. Reachable workspace
b. manipulators workspace
c. dexterous workspace
d. none

 15 The space where is end effector can reach every point from all orientation is called
a. Reachable workspace
b. manipulators workspace
c. dexterous workspace
d. none

16 Overall control and co-ordinate of the robot system is called

_______

a. Supervisory control
b. Task generator
c. Arm motion control
d. Task interpreter
17 The step by step execution of the robot task controlled by______
 a. Task generation
b. Task interpreter
c. Arm motion control
d. Supervisory control

18 The commands of these axial motions are given by the operator when the desired position is
reached, the stores the co-ordinates of the computer memory. This process of programming
called as_______

a. manual teaching
b. lead teaching
c. walk through teaching
d. offline programming

19. In a typical teach pendant have control commands “trAnswer”mode used for
________

a. to manipulate the robot

b. to run a program
c. activated the joint control
d. to initialize the robot to known position

20. In a typical teach pendant have control commands “move”mode used for
_______
a. to manipulate the robot
b. to run a program
c. activated the joint control
d. to initialize the robot to known position

21 In a typical teach pendant have control commands “home”mode used for

_______
a. to manipulate the robot
b. to run a program
c. activated the joint control
d. to initialize the robot to known position

22. In a typical teach pendant have control commands “step”mode used for
_______

a. to manipulate the robot

b. to run a program
c. useful to move the robot though the program one advance at a time
d. to initialize the robot to known position

23. In a typical teach pendant have control commands “zero” mode used for
_______
 a. to manipulate the robot
b. to run a program
c. useful to move the robot though the program one advance at a time
d. allow setting the position register to zero

24. The robot is major ingredient of ______

a. Cim –technology
b. Cam technology
c. Cadd
d. Mrd

25. For offline robot programming_________ software used .

a. igrip
b. robcad
c. robot studio
d. all of above

26. The Robot designed with cylindrical coordinate systems has ________ (CO1)
(A) Three linear movements
(B) Three rotational movements
(C) Two linear and one rotational movement
(D) Two rotational and one linear movement

27.  ____________ work is done by General purpose robot? (CO1)

(A) Part picking
(B) Welding
(C) Spray painting
(D) All of the above

28. ____________ drive is used for lighter class of Robot. (CO1)

(A) Pneumatic drive
(B) Hydraulic drive
(C) Electric drive
(D) All of the above

29.  Internal state sensors are used for measuring __________ of the end effector. (CO1)
(A) Position
(B) Position & Velocity
(C) Velocity & Acceleration
(D) Position, Velocity & Acceleration
30. ___________ sensors determines the relationship of the robot and its environment and the
objects handled by it (CO1)
(A) Internal State sensors
(B) External State sensors
(C) Both (A) and (B)
(D) None of the above

31. _____________ is not a programming language for computer controlled robot? (CO1)
(A) VAL
(B) RAIL
(C) HELP
(D) AMU

32. In which of the following operations Continuous Path System is used (CO1)
(A) Pick and Place
(B) Loading and Unloading
(C) Continuous welding
(D) All of the above

 33. Which of the name for information sent from robot sensors to robot controllers? (CO1)
(A) temperature
(B) pressure
(C) signal
(D) feedback

34. _______________ terms refers to the rotational motion of a robot arm? (CO1)
(A) swivel
(B) axle
(C) retrograde
(D) roll

35. _____________ is the name for space inside which a robot unit operates? (CO1)
(A) environment
(B) spatial base
(C) exclusion zone
(D) work envelope

36. For a robot unit to be considered a functional industrial robot, typically, how many degrees
of freedom would the robot have? (CO1)
(A) three
(B) four
(C) eight
(D) six

37. Which of the basic parts of a robot unit would include the computer circuitry that could be
programmed to determine what the robot would do? (CO1)
 (A) controller
(B) sensor
(C) arm
(D) end effector

38. ________ terms refers to the use of compressed gasses to drive (power) the robot device?
(CO1)
(A) hydraulic
(B) piezoelectric
(C) photosensitive
(D) pneumatic

39.  ___________ terms IS NOT one of the five basic parts of a robot? (CO1)
(A) end effectors
(B) controller
(C) drive
(D) peripheral tools

40.  The number of moveable joints in the base, the arm, and the end effectors of the robot
determines_________ (CO1)
(A) payload capacity
(B) operational limits
(C) flexibility
(D) degrees of freedom

 41. _____________ represents muscles of a robot? (CO1)

(A) Power supply
(B) Micro controllers
(C) Robotic arm
(D) Actuators

42. _____________ “laws” is Asimov’s first and most important law of robotics? (CO1)
(A) robot actions must never result in damage to the robot
(B) robots must follow the directions given by humans
(C) robots must never take actions harmful to humans
(D) robots must make business a greater profit

43. ____________ is type of proximity sensors (CO1)

(A) Inductive type
(B) Capacitive type
(C) Ultrasonic wave type
(D) All of the mentioned

44. ___________ person used the name robot first time in print? (CO1)
(A) Josef capek
(B) Karelcapek
 (C) Isaac asimov
(D) None of the mentioned

45. The robot can relievehuman toperform what have been called “4D jobs” (CO1)
(A) dirty,dangerous,different,difficult
(B) dull,duty,deep,different
(C) dull, dirty, dangerous, difficult
(D) dull,difficult,different,deep

46. The workspace of cartesian configuration is (CO1)

(A) Cylindrical
(B) gantry
(C) polar
(D) articulated

47.The term robot was derived from_____languages. (CO1)

(A) English
(B) czech
(C) greek
(D) latin

48. The robot were introduced to industry by_______ (CO1)

(A) karelcapek
(B) rossem
(C) issacasimor
(D) miller

49. The first robotics had been introduced by in the____ industry (CO1)
(A) automotive
(B) process
(C) space
(D) manufacturing

50. The selective complaints on assembly robots arm are called as (CO1)

(A) scara
(B) puma
(C) stand ford
(D) none

UNIT-II ROBOT KINEMATICS AND PROGRAMMING

1. The representation of rotation in a 3D space has matrix. (CO2)

a. 3*1
 b. 3*3
c. 1*3
d. 1
2. The representation of translation in a 3D space has matrix. (CO2)
a. 3*1
b. 3*3
c. 1*3
d. none
3. The 4*4 transformation matrix in robot is called . (CO2)
a. homogenous transformation matrix
b. homogeneous co-ordinates matrix
c. scale factor matrix
d. perspective transformation matrix

4. The scale factor has non-zero positive values and is called . (CO2)
a. global sacling parameter
b. enlarging factor
c. reducing factor
d. none
5. The robotics scale factor value ‘σ’ is . (CO2)
a. σ<1
b. σ>1
c. σ=1
d. σ>-1
6. The rotation matrix has elements. (CO2)
a. 3
b. 9
c. 8
d. 1
7. 7. If in the rotation matrix has only 3 of the g elements are independent the rotation
matrix has (CO2)
a. redudancy
b. singularity
c. dexirity
d. none
8. How many numbers of Euler angles sets can be obtained? (CO2)
a.12
b.36
c.24
d.3
9. For pure translation linear link velocity can be taking the time derivative of the
homogeneous transfer formation matrix became rotation matrix is . (CO2)
a. varies
b. constant
c. zero
d. one
10. From robot forward kinematics you can find (CO2)
a. target co-ordinates
b. length of each link
c. angles of each point
d. all the above
11. The position of any point it is in workspace can obtained through (CO2)
a. forward kinematics
b. backward kinematics
c. inverse kinematics
d. none
12. In inverse kinematics we can find (CO2)
a. angles of each point
b. the length of each point
c. the angle each point
d. the position each point
8. Rotation around the z-axis is
(CO2)
1 0 0
a. 0 sin θ −sin θ
0 sin θ cos θ

cos θ 0 sin θ
b. 0 1 0
−sin θ 0 cos θ
cos θ 0 sin θ
0 1 0
−sin θ 0 cos θ
cos θ −sin θ 0
c . sin θ cos θ 0
0 0 1
d. none
13. The situation of a position and an orientation are an entity called as (CO2)
a. frame
b. link
c. joint
d. none
14. The representation of 3 set of rotations frames are called (CO2)
a. eular angles
b. transformation angle
c. translation angles
d. orientation angles

15. The distance measured along a line i.e. mutually perpendicular to both the axis in D-H
notation is called (CO2)
 a. link length
b. link twist
c. link parameter
d. joint variable
16. In which mathematical approach solving for inverse kinematics for closed
form__________ (CO2)
a.algebric
b.geometric
c.all three a,b,c
d.nuemerical
17. The workspace interior singularities occur away from space boundary __________(CO2)
a. 2 revolute joints with collinear axis
b. 3 revolute joints with co-planar axis
c. 4 revolute joints with intersection at one point
d. All above
18. The ability of the robot to move freely in all direction of the workspace __________
(CO2)
a. robot manipulability
b. quantitative measure of manipulator
c. end point sensitivity
d. robot control
19. The definition for is the determination of all possible and feasible sets of joint variables,
which would achieve the specified position and orientation of the manipulator’s end
effector with respect to the base frame. (CO2)
a. inverse kinematics
b. forward kinematics
c. indirect kinematics
d. none
20. The number of solution for the inverse kinematics problem of the given 6 degrees of
freedom manipulation arm is __________ (CO2)
a.6
b.3
c.4
d.none
21. The direct Q inverse kinematic models were establish the relationship between the
manipulator’s __________ (CO2)
a.Joint displacements Q position & orientation of end effecter
b.Link displacement
c.Position & orientation of end effector
d.All
22. The ability of the robot to move freely in all direction of the workspace __________
(CO2)
a. robot manipulability
b. quantitative measure of manipulator
 c. end point sensitivity
d. robot control
23. A manipulators with more DOF with necessary are called (CO2)
a. Cartesian manipulator
b. cylindrical manipulator
c. kinematically manipulator
d. dexterous manipulator
24. The time variation of position and orientation of link in space produces (CO2)
a. Linear & angular velocity
b. Linear velocity
c. angular velocity
d. Linear & angular acceleration

25. In which vectors needs to be preserved in the magnitude of direction __________(CO2)

a. Free vector
b. Linear angular velocity
c. Angular velocity
d. Linear vector