Trajectory Planning MCQs
1. Trajectory planning in robotics is used to:
A) Determine the path that a robot should follow
B) Optimize the robot’s sensor calibration
C) Design the robot’s mechanical structure
D) Calculate the robot’s energy consumption
Answer: A) Determine the path that a robot should follow
2. The “cubic polynomial” trajectory is often used because:
A) It ensures smooth acceleration and deceleration
B) It requires minimal computation
C) It is easiest to implement with hardware
D) It provides exact position control
Answer: A) It ensures smooth acceleration and deceleration
3. In trajectory planning, “waypoints” refer to:
A) Specific positions or points the robot must pass through
B) The speed at which the robot moves
C) The robot’s sensor locations
D) The control inputs applied to the robot
Answer: A) Specific positions or points the robot must pass through
4. Which of the following methods is commonly used for trajectory planning?
A) Linear interpolation
B) Cubic spline interpolation
C) Particle filtering
D) Kalman filtering
Answer: B) Cubic spline interpolation
5. In trajectory planning, “interpolation” is used to:
A) Generate intermediate points between known waypoints
B) Calculate the robot’s velocity
C) Design the robot’s end-effector
D) Control the robot’s sensors
Answer: A) Generate intermediate points between known waypoints
6. “Bezier curves” in trajectory planning are used to:
A) Create smooth paths based on control points
B) Measure the robot’s position
C) Compute the robot’s torque
D) Control the robot’s joint angles
Answer: A) Create smooth paths based on control points
7. The term “time-optimal trajectory” refers to:
A) A trajectory that minimizes the time required to travel between two points
B) A trajectory that maximizes the robot’s speed
C) A trajectory that minimizes energy consumption
D) A trajectory that ensures maximum accuracy
Answer: A) A trajectory that minimizes the time required to travel between two points
8. In trajectory planning, “smoothing” is applied to:
A) Reduce abrupt changes in the trajectory
B) Increase the robot’s speed
C) Improve sensor accuracy
D) Minimize energy consumption
Answer: A) Reduce abrupt changes in the trajectory
9. Which of the following is NOT a characteristic of a “polynomial trajectory”?
A) Continuity of position
B) Continuity of velocity
C) Continuity of acceleration
D) Discontinuity of jerk
Answer: D) Discontinuity of jerk
10. The “minimum-time trajectory” optimization aims to:
A) Minimize the time required to complete a given trajectory
B) Maximize the trajectory length
C) Optimize the trajectory’s curvature
D) Ensure maximum safety margins
Answer: A) Minimize the time required to complete a given trajectory
11. “Dynamic constraints” in trajectory planning refer to:
A) Limits on acceleration, velocity, and torque that the robot must respect
B) Limits on the robot’s position
C) Limits on the robot’s energy consumption
D) Limits on the robot’s power supply
Answer: A) Limits on acceleration, velocity, and torque that the robot must respect
12. In trajectory planning, “path planning” and “trajectory planning” are:
A) Two distinct processes where path planning determines the route and trajectory planning determines the motion profile
B) The same process
C) Focused solely on end-effector positions
D) Primarily concerned with sensor data
Answer: A) Two distinct processes where path planning determines the route and trajectory planning determines the motion profile
13. “Trajectory tracking” refers to:
A) The robot’s ability to follow a predefined trajectory accurately
B) The robot’s ability to plan new trajectories
C) The robot’s ability to detect obstacles
D) The robot’s ability to measure its own position
Answer: A) The robot’s ability to follow a predefined trajectory accurately
14. The “quadratic polynomial” trajectory has:
A) Constant acceleration
B) Constant velocity
C) Constant position
D) Linear acceleration
Answer: A) Constant acceleration
15. In trajectory planning, “jerk” refers to:
A) The rate of change of acceleration
B) The rate of change of velocity
C) The rate of change of position
D) The rate of change of force
Answer: A) The rate of change of acceleration
16. “Spline interpolation” is used in trajectory planning to:
A) Create smooth curves that pass through a series of points
B) Compute the robot’s torque
C) Analyze the robot’s kinematics
D) Design the robot’s sensors
Answer: A) Create smooth curves that pass through a series of points
17. “End-effector trajectory” refers to:
A) The path followed by the end-effector of the robot
B) The trajectory of the robot’s joints
C) The movement of the robot’s base
D) The speed of the robot’s actuators
Answer: A) The path followed by the end-effector of the robot
18. In trajectory planning, “time-parametric” trajectories are:
A) Trajectories where the position, velocity, and acceleration are defined as functions of time
B) Trajectories defined purely in spatial coordinates
C) Trajectories that do not consider time constraints
D) Trajectories with fixed velocity
Answer: A) Trajectories where the position, velocity, and acceleration are defined as functions of time
19. The “Piecewise Linear” trajectory is characterized by:
A) A trajectory consisting of straight line segments
B) A trajectory with constant acceleration
C) A trajectory with smooth curves
D) A trajectory with discontinuous velocity
Answer: A) A trajectory consisting of straight line segments
20. “Trajectory optimization” involves:
A) Finding the best trajectory based on given criteria such as time, energy, or smoothness
B) Designing the robot’s mechanical parts
C) Calibrating the robot’s sensors
D) Implementing control algorithms
Answer: A) Finding the best trajectory based on given criteria such as time, energy, or smoothness
21. The “minimum-energy trajectory” aims to:
A) Minimize the total energy required to follow a trajectory
B) Maximize the robot’s speed
C) Increase the trajectory’s curvature
D) Ensure smooth acceleration
Answer: A) Minimize the total energy required to follow a trajectory
22. In trajectory planning, “continuity conditions” ensure:
A) Smooth transitions between segments of a trajectory
B) Maximum velocity
C) Minimal trajectory length
D) Constant acceleration
Answer: A) Smooth transitions between segments of a trajectory
23. The “time scaling” technique in trajectory planning is used to:
A) Adjust the timing of trajectory points to meet constraints
B) Change the speed of the robot’s end-effector
C) Optimize the trajectory path
D) Control the robot’s energy consumption
Answer: A) Adjust the timing of trajectory points to meet constraints
24. “Trajectory replanning” is necessary when:
A) There are changes in the robot’s environment or constraints
B) The robot’s sensors are recalibrated
C) The robot’s actuators are replaced
D) The robot’s base is moved
Answer: A) There are changes in the robot’s environment or constraints
25. “Spline curves” are often used because they:
A) Provide smooth and continuous paths
B) Offer minimal control over the trajectory
C) Are easy to compute but less accurate
D) Require complex algorithms
Answer: A) Provide smooth and continuous paths
26. The “B-spline” curve is characterized by:
A) Its ability to represent smooth and flexible paths through control points
B) Fixed control points that do not affect the curve
C) Constant acceleration throughout the trajectory
D) Discontinuous velocity
Answer: A) Its ability to represent smooth and flexible paths through control points
27. In trajectory planning, “dynamic optimization” focuses on:
A) Minimizing or maximizing certain dynamic properties such as energy or time
B) Ensuring the trajectory follows a fixed path
C) Designing the robot’s sensors
D) Analyzing the robot’s kinematic constraints
Answer: A) Minimizing or maximizing certain dynamic properties such as energy or time
28. The “Bezier curve” is often used in trajectory planning due to its:
A) Ability to create smooth and aesthetically pleasing curves with control points
B) High computational complexity
C) Fixed trajectory length
D) Constant velocity
Answer: A) Ability to create smooth and aesthetically pleasing curves with control points
29. “Joint-space trajectory planning” involves:
A) Planning the trajectory based on the robot’s joint angles
B) Planning the end-effector path directly
C) Designing the robot’s base movements
D) Calibrating sensors
Answer: A) Planning the trajectory based on the robot’s joint angles
30. In “Cartesian-space trajectory planning,” the focus is on:
A) The end-effector’s path in Cartesian coordinates
B) The joint angles of the robot
C) The robot’s internal forces
D) The energy efficiency of the robot
Answer: A) The end-effector’s path in Cartesian coordinates