Kinematics and Dynamics of Robots — MCQs – EE

1. The term kinematics in robotics refers to:
(A) The study of motion without considering forces
(B) The study of forces causing motion
(C) The design of sensors
(D) The control of electrical signals

2. The term dynamics in robotics deals with:
(A) Forces and torques that cause motion
(B) Only velocity
(C) Image processing
(D) Control programming

3. Forward kinematics determines:
(A) The position and orientation of the end effector from known joint parameters
(B) The joint angles from a given end-effector position
(C) The robot speed
(D) The power input

4. Inverse kinematics is used to:
(A) Calculate joint parameters for a desired end-effector position
(B) Determine the workspace
(C) Measure acceleration
(D) Control torque

5. The Denavit–Hartenberg (D-H) parameters are used to:
(A) Represent the geometry of robot links and joints
(B) Control robot speed
(C) Calculate torque
(D) Measure temperature

6. A link in a robotic manipulator refers to:
(A) A rigid body connecting two joints
(B) The controller circuit
(C) The actuator system
(D) The end effector

7. A joint in a robot manipulator allows:
(A) Relative motion between adjacent links
(B) Power storage
(C) Temperature control
(D) Electrical connection only

8. The workspace of a robot is defined as:
(A) The total volume a robot’s end effector can reach
(B) The robot’s base area
(C) The area occupied by control cables
(D) The room size where it operates

9. A revolute joint provides:
(A) Rotational motion
(B) Linear motion
(C) Translational motion only
(D) Damped vibration

10. A prismatic joint provides:
(A) Linear motion
(B) Rotational motion
(C) Angular displacement
(D) Vibratory motion

11. The degree of freedom (DOF) of a manipulator represents:
(A) The number of independent movements possible
(B) The number of actuators used
(C) The robot’s total weight
(D) The end effector type

12. A 6 DOF manipulator can move:
(A) In three translational and three rotational directions
(B) Only linearly
(C) In one plane
(D) Without rotation

13. The Jacobian matrix in robotics relates:
(A) Joint velocities to end-effector velocities
(B) Force to torque
(C) Temperature to voltage
(D) Power to load

14. A singular configuration occurs when:
(A) The robot loses one or more degrees of freedom
(B) The controller stops functioning
(C) The end effector collides with an obstacle
(D) The torque becomes zero

15. The kinematic chain of a robot is:
(A) The sequence of links and joints
(B) The control algorithm
(C) The signal transmission path
(D) The vision system

16. In forward dynamics, the known parameters are:
(A) Joint torques, and the objective is to find motion
(B) Motion, and the objective is to find torques
(C) Temperature and power
(D) Speed and current

17. In inverse dynamics, the goal is to determine:
(A) The required joint torques to produce a given motion
(B) The position of the end effector
(C) The kinematic chain length
(D) The control feedback gain

18. The Lagrange method is commonly used for:
(A) Deriving robot dynamic equations
(B) Designing vision systems
(C) Controlling actuators
(D) Measuring force

19. The Newton–Euler method is based on:
(A) Force and torque balance on each link
(B) Energy conservation
(C) Linear approximation
(D) Temperature difference

20. The mass matrix in robot dynamics represents:
(A) The distribution of mass and inertia in the system
(B) The control signal matrix
(C) The joint friction coefficients
(D) The workspace boundaries

21. Coriolis and centrifugal forces in robot dynamics are due to:
(A) Moving links and rotating joints
(B) External disturbances
(C) Thermal expansion
(D) Gravitational effects only

22. The gravitational term in robot dynamics affects:
(A) The torque needed to hold the arm steady
(B) The joint velocity
(C) The actuator resistance
(D) The encoder accuracy

23. The Euler–Lagrange equation in robotics is used to:
(A) Derive equations of motion
(B) Calculate optical flow
(C) Tune sensors
(D) Reduce vibrations

24. The Jacobian transpose method is used in:
(A) Force control of manipulators
(B) Image processing
(C) Path planning
(D) Signal modulation

25. Static analysis in robotics is concerned with:
(A) Equilibrium of forces and torques without motion
(B) Motion of joints
(C) Control system tuning
(D) Image recognition

26. Dynamic coupling in robots refers to:
(A) Interaction between joint motions
(B) Power supply interconnection
(C) Signal interference
(D) Parallel processing

27. The center of mass of a robot manipulator affects:
(A) Stability and balance
(B) Power consumption
(C) Programming complexity
(D) Temperature response

28. A redundant manipulator has:
(A) More degrees of freedom than required for a task
(B) Fewer joints than links
(C) Only one motion axis
(D) Limited flexibility

29. The end effector velocity is obtained using:
(A) The Jacobian matrix and joint velocity vector
(B) The torque balance equation
(C) The potential energy equation
(D) The control feedback

30. Trajectory planning involves:
(A) Determining smooth motion of the end effector over time
(B) Measuring torque at each joint
(C) Controlling temperature
(D) Adjusting power levels

31. A planar manipulator operates in:
(A) A two-dimensional plane
(B) Three-dimensional space
(C) A spherical region
(D) Cylindrical coordinates

32. The base frame in robot kinematics serves as:
(A) The reference coordinate system
(B) The moving coordinate system
(C) The actuator position
(D) The end-effector orientation

33. The tool frame refers to:
(A) The coordinate system attached to the end effector
(B) The fixed base
(C) The controller unit
(D) The power module

34. Homogeneous transformation matrices are used to represent:
(A) Combined rotation and translation in space
(B) Torque equations
(C) Dynamic coupling
(D) Gravitational effects

35. The manipulability of a robot measures its:
(A) Ability to move the end effector in any desired direction
(B) Speed of operation
(C) Power efficiency
(D) Thermal stability