Robot Dynamics MCQs

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1. Robot dynamics primarily involves:
(A) The study of the robot’s kinematic chains
(B) The study of forces and torques in a robot system
(C) The control of joint angles
(D) The design of robot sensors

2. In robot dynamics, the term “mass matrix” refers to:
(A) The matrix representing the mass distribution of the robot
(B) The matrix that relates joint accelerations to joint forces/torques
(C) The matrix representing the end-effector mass
(D) The matrix of joint velocities

3. Which of the following equations is commonly used to describe robot dynamics?
(A) Schrödinger’s equation
(B) Bernoulli’s equation
(C) Maxwell’s equations
(D) Newton-Euler equations

4. The “coriolis force” in robot dynamics is:
(A) The force due to the robot’s mass
(B) The force due to friction
(C) The force due to acceleration of moving parts
(D) The force due to gravitational effects

5. In the context of robot dynamics, “inertia” typically refers to:
(A) The resistance to change in motion
(B) The force applied by actuators
(C) The external forces applied to the robot
(D) The torque required to move the robot

6. The equation τ = M(q)q¨ + C(q, q˙)q˙ + G(q) represents:
(A) Robot dynamics
(B) Inverse kinematics
(C) Forward kinematics
(D) Path planning

7. In the dynamics of a robotic arm, G(q) represents:
(A) The mass matrix
(B) The Coriolis/centrifugal forces
(C) The gravitational forces
(D) The joint damping forces

8. The term “damping” in robot dynamics refers to:
(A) The external forces applied to the system
(B) The increase in system energy
(C) The reduction of mechanical vibrations
(D) The mass distribution of the robot

9. Which of the following is NOT a component of the dynamics model of a robot?
(A) Sensor calibration
(B) Coriolis forces
(C) Gravitational forces
(D) Inertia matrix

10. The “Euler-Lagrange equation” is used to:
(A) Describe the dynamics of a robot
(B) Model the kinematics of a robot
(C) Design the robot’s controller
(D) Determine the robot’s trajectory

11. In the equation τ = M(q)q¨ + C(q, q˙)q˙ + G(q), τ represents:
(A) End-effector position
(B) Joint torques
(C) Joint velocities
(D) Gravitational forces

12. The “Jacobian matrix” in robot dynamics is used to:
(A) Relate joint velocities to end-effector velocities
(B) Compute the inertia matrix
(C) Determine the gravitational forces
(D) Model the damping forces

13. In robot dynamics, the term “centrifugal force” refers to:
(A) The force due to joint friction
(B) The force due to gravity
(C) The force caused by rotational acceleration
(D) The force applied by actuators

14. Which method is commonly used for solving dynamic equations of motion in robotics?
(A) Analytical methods
(B) Experimental methods
(C) Graphical methods
(D) Numerical methods

15. The “Lagrangian” in robot dynamics is defined as:
(A) The total energy of the system
(B) The sum of kinetic and potential energy
(C) The difference between kinetic and potential energy
(D) The rate of change of energy

16. The “Newton-Euler method” is used for:
(A) Kinematic analysis
(B) Path planning
(C) Dynamic modeling
(D) Control design

17. In robot dynamics, “forward dynamics” refers to:
(A) Calculating joint positions from joint velocities
(B) Determining joint accelerations from applied forces/torques
(C) Calculating end-effector positions from joint angles
(D) Determining joint velocities from end-effector velocities

18. The “inverse dynamics” problem involves:
(A) Determining the motion of a robot given the forces/torques
(B) Calculating the forces/torques needed to achieve a desired motion
(C) Computing the Jacobian matrix
(D) Measuring the robot’s end-effector velocity

19. In robot dynamics, “linear momentum” is defined as:
(A) The rate of change of kinetic energy
(B) The mass times the velocity
(C) The rate of change of potential energy
(D) The sum of all forces applied to the robot

20. Which of the following best describes “robot inertia”?
(A) The robot’s ability to resist external forces
(B) The resistance of a robot’s link to changes in motion
(C) The damping effect in the robot’s joints
(D) The gravitational forces on the robot

21. The term “control torque” refers to:
(A) The torques due to gravitational forces
(B) The torques resulting from external forces
(C) The torques due to friction
(D) The torques applied by the robot’s actuators to achieve desired movements

22. The “Euler method” in numerical dynamics is used for:
(A) Solving dynamic equations with a small time step approximation
(B) Solving algebraic equations
(C) Computing exact solutions of differential equations
(D) Modeling the kinematic chain

23. In robot dynamics, “work” done by a force is calculated as:
(A) Mass times acceleration
(B) Force divided by displacement
(C) Force times displacement
(D) Energy divided by time

24. The “potential energy” in robot dynamics is typically associated with:
(A) The energy required for joint actuation
(B) The energy due to motion
(C) The energy dissipated by friction
(D) The energy stored due to position in a gravitational field

25. “Kinetic energy” in robot dynamics is given by:
(A) ½mv²
(B) mgh
(C) Both A and C
(D) ½Iω²

26. In robot dynamics, “actuator dynamics” refers to:
(A) The mechanical design of actuators
(B) The control strategies for actuators
(C) The study of forces and torques generated by actuators
(D) The energy efficiency of actuators

27. The “dynamic response” of a robot system typically involves:
(A) The robot’s reaction to applied forces and torques
(B) The time-dependent behavior of the robot
(C) The robot’s reaction to environmental disturbances
(D) The steady-state performance of the robot

28. “Torque control” in robotics involves:
(A) Controlling the end-effector position
(B) Controlling the joint angles
(C) Directly controlling the forces applied at the joints
(D) Controlling the velocity of the joints

29. The “transfer function” in robot dynamics is used to:
(A) Describe the kinematic constraints of the robot
(B) Relate input forces/torques to output movements
(C) Compute the robot’s energy consumption
(D) Model the sensor feedback

30. The “system matrix” in the state-space representation of robot dynamics includes:
(A) The mass matrix, Coriolis matrix, and gravitational forces
(B) The control input matrix and the state matrix
(C) The robot’s kinematic parameters
(D) The Jacobian matrix

31. The “Robot Operating System (ROS)” is primarily used for:
(A) Implementing control algorithms
(B) Simulating dynamic models
(C) Designing robot structures
(D) Managing robot hardware and software interfaces

32. “Dynamic simulation” in robotics involves:
(A) Calculating the robot’s end-effector position
(B) Directly controlling the robot’s movements in real-time
(C) Analyzing the robot’s kinematic chain
(D) Running a model of the robot to predict its behavior under various conditions

33. In robot dynamics, “external forces” can include:
(A) Only applied loads
(B) Only gravitational forces
(C) Gravitational forces, friction, and applied loads
(D) Only frictional forces

34. The “Lagrangian mechanics” approach is advantageous because it:
(A) Eliminates the need for numerical methods
(B) Focuses only on linear systems
(C) Simplifies the robot’s kinematic analysis
(D) Provides a systematic method for deriving the equations of motion

35. The “torque control” strategy is most suitable for:
(A) Tasks where position control is critical
(B) High-precision tasks requiring accurate force application
(C) Low-speed, low-torque applications
(D) High-speed movement applications

36. In the dynamics model, the term C(q, q˙) represents:
(A) Gravitational forces
(B) Coriolis/centrifugal forces
(C) Inertia matrix
(D) Damping forces

37. “Robotic Simulation Software” is used for:
(A) Designing mechanical components of robots
(B) Testing and validating the dynamic models and control algorithms
(C) Writing robot control programs
(D) Implementing real-time control systems

38. “Trajectory planning” in robot dynamics is concerned with:
(A) Adjusting the robot’s hardware
(B) Setting the robot’s joint positions
(C) Calculating the robot’s energy consumption
(D) Determining the path and motion of the robot over time

39. In robot dynamics, “feedback control” involves:
(A) Developing simulation models
(B) Designing the robot’s mechanical structure
(C) Planning the robot’s motion path
(D) Using sensor data to adjust control inputs and improve system performance

40. The “Euler-Lagrange” equations are used to:
(A) Determine the sensor calibration parameters
(B) Calculate the kinematic constraints
(C) Formulate the equations of motion for a dynamic system
(D) Model the robot’s path planning

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