Robotics 2
Path-Planning and Trajectory Generation
Quiz
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Question 2: In a path equation, what do we want the 'parameter' to represent?
Question 3: When we write an equation to calculate the joint velocities given the end-effector velocities, what do we have to do with the Jacobian matrix?
Questions 4-7: Suppose I have a 2x2 matrix as shown here. Fill in the values of the inverse of the matrix. Round to two decimal places.
Question 8: True or false: we can only calculate the inverse of a matrix if it is square.
Question 9: If I have a manipulator with 3 joints, how many of the components of the end-effector velocity can I control simultaneously?
Question 1: When we define a path of the end-effector to take between two end-points, what kind of equation is most useful?
Question 10: Once I have defined the path I want the end-effector to follow, how do I find the end-effector velocity (the trajectory)?
A parametric equation
An inverse equation
A parabolic equation
A quadratic equation
Time
Velocity
Distance
Acceleration
Take the inverse
Take the transpose
Take the derivative
Take the integral
True
False
All 6
At least 3
Only 3
Fewer than 3
Take the derivative
Take the integral
Take the inverse
Take the transpose