Modern Robotics-- Mechanics, Planning, and Control。现代机器人学：课外测验答案（选择题）+课后答案（英文）

在coursera自学了现代机器人学：机构。规划与控制 这门课。 现在把Coursera上面给的测验题和课后习题的答案发上来，帮助有需要的同学。这是第四周（第七章和第八章）的简易版。 大家可以看看

Week 4: Kinematics of Closed Chains and Dynamics of Open Chains

测验：

1.  Which of the following statements is true about closed-chain and parallel robots? Select all that apply.

__X____For a given set of positions of the actuated joints, there may be more than one configuration of the end-effector.

______Closed-chain robots are a subclass of parallel robots.

___X___Some joints may be unactuated.

___X___The inverse kinematics for a parallel robot are generally easier to compute than its forward kinematics.

 ______Parallel robots are sometimes chosen instead of open-chain robots for their larger workspace.
 

2. The Lagrangian for a mechanical system is

_____the kinetic energy plus the potential energy.

__X___the kinetic energy minus the potential energy.

3. To evaluate the Lagrangian equations of motion,

τi=dtd∂θ˙i∂L−∂θi∂L,

you must be able to take derivatives, such as the partial derivative with respect to a joint variable or velocity or a total derivative with respect to time. Therefore, the product rule and chain rules for derivatives will be useful. (If you have forgotten them, you can refresh your memory with any standard reference, including Wikipedia.) Which of the answers below represents the time derivative of 2θ1cos(4θ2), where θ1 and θ2 are functions of time?

____−8θ˙1sin(4θ2)

__X__2θ˙1cos(4θ2)−8θ1sin(4θ2)θ˙2

____2θ˙1cos(4θ2)−2θ1sin(4θ2)θ˙2

____2θ˙1cos(4θ2)+2θ1cos(4θ2)θ˙2

4. The equations of motion for a robot can be summarized as

τ=M(θ)θ¨+c(θ,θ˙)+g(θ).

If the equation for the first joint is

τ1=term1+term2+term3+...

which of the following terms, written in terms (θ,θ˙,θ¨), could not be one of the terms on the right-hand side of the equation? (The value k is not a function of (θ,θ˙,θ¨) and could represent constants like link lengths, masses, or inertias, as needed to get correct units.) Select all that apply.

 _____kθ¨2cos(θ1)

 __X___kθ¨1θ˙1

 _____ksinθ3

 _____kθ˙1θ˙2sinθ2

 __X___kθ˙1sinθ2

5. What is the typical reason for putting a gearhead on a motor for use in a robot?

__X____To increase torque (simultaneously reducing the maximum speed).

______To increase speed (simultaneously reducing the maximum torque).

6. Compared to a "direct drive" robot that is driven by motors without gearheads (G=1), increasing the gear ratios has what effect on the robot's dynamics? Select all that apply.

__X___The mass matrix M(θ) is increasingly dominated by the apparent inertias of the motors.

_____The mass matrix M(θ) is increasingly dominated by off-diagonal terms.

_____The mass matrix M(θ) is increasingly dominated by constant terms that do not depend on the configuration θ.

 _____The robot is capable of higher speeds but lower accelerations.

 __X___The significance of velocity-product (Coriolis and centripetal) terms diminishes.