Robotics 1 Feedback Control Quiz

Question 2: What do we call it when the joint goes past its target point, and then comes back?

Question 3: What do we call it when the joint keeps oscillating around its target position indefinitely?

Question 4: If I want to improve the stability of on/off control, what could I do?

Question 5: 'Linear Control' is called that because the ________ is linearly dependent upon the ________.

Question 6: When we are implementing proportional control for our slider, which equation are we using?

Question 7: What is one way to determine the value of Kp?

Question 8: What do you expect to happen with stability as Kp becomes larger?

Question 9: What do you expect to happen with response speed as Kp becomes larger?

Question 10: What do you expect to happen with positioning accuracy as Kp becomes larger?

Undergraduate/Graduate Questions (both undergraduates AND graduates should answer these questions):

Question 11: Suppose I am sending a byte using UART and I see the voltage over time as shown here. Also, suppose I have set one start bit and one stop bit in my communication. What is the digital value being sent? Your answer should be a number without a decimal.

Question 12: For question 11, suppose that the baud rate is set to 9600. What is the value of the time X, in units of milliseconds? Don't enter units, just type a number. Round to 6 places after the decimal.

Question 13: Given Questions 11 and 12, how long would it take, in milliseconds, to send a complete 8-bit byte, given that there is 1 stop bit and 1 start bit? Round to 6 places after the decimal, and don't enter units.

Question 14: What is meant by the 'rise time' of a time response?

Question 1: Which of these is NOT one of the goals of motion control?

I could increase the speed, or increase the accuracy

I could give up some speed, or increase the accuracy

I could give up some speed, or give up some accuracy

I could increase the speed, or give up some accuracy

We 'tune' the controller by trying values of Kp and observing the results

Kp is a constant value; it is a physical property inherent in nature, like the gravitational constant

As Kp becomes larger, the motion should become more stable

As Kp becomes larger, the motion should become less stable

It is impossible to predict what will happen to the stability as Kp becomes larger

Graduate Questions (ONLY graduates need to answer these questions):

As Kp becomes larger, the response speed should become slower

As Kp becomes larger, the response speed will not change

As Kp becomes larger, the response speed should become faster

It is impossible to predict what will happen to the response speed as Kp becomes larger

As Kp becomes larger, the positioning accuracy will not change

As Kp becomes larger, the positioning should become more accurate

As Kp becomes larger, the positioning should become less accurate

It is impossible to predict what will happen to the positioning accuracy as Kp becomes larger

The amount of time between the start of the response and the first crossing of the target value

The amount of time between the start of the response and the first peak

The amount of time between the start of the response and the last peak

The amount of time between the start of the response and the last crossing of the target value

A critically-damped system is one that is as fast as it can be, given that there is no overshoot.

A critically-damped system is one that maximizes speed and accuracy at the expense of stability.

A critically-damped system is any system that exhibits no oscillations.

A critically-damped system is one that has as few oscillations as is acceptable in a particular application.