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SNSCE 2019
UNIT – 4
NAVIGATION, PATH PLANNING AND CONTROL ARCHITECTURE
1. What are the basic mechanisms of legged
robot? Slider
Liver
2. What are the benefits that can be obtained with a legged
robot? Better mobility
Better stability on the
platform Better energy
efficiency
Smaller impact on the ground
3. What is APAS?
Adaptable programmable system was developed by national science foundation &
westing house Electric Corporation. The purpose was to advance the state of
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the art in automated batch assembly.
4. Write the different type of kinematics analysis of
mechanism? Graphical Position Analysis
Method
Algebraic Position Analysis of Linkages
Complex Algebra Method for Position Analysis
5. When a robot singularity will occurs?
A robot singularity occurs when robot axes are redundant (more axes then
necessary to cause the same motion) or when the robot is in certain
configurations that require extremely high joint rates to move at some nominal
speed in Cartesian space
6. Write the two modes of lead through
programming? Teach mode
Run mode
7. Write end effector
command
OPEN
CL
OSE
OPE
NI
CLOSED I
8. List out basic modes of operation in robot language
structure. The three basic modes of operations are
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SNSCE 2019
Monito
r mode
Run
mode
Edit mode
9. State that robot language
element. Constant,
variables
Motion command
End effector and sensor
command Computation and
operations.
10. What is pick and place operation?
Pick and place operation involved tasks in which the robot picks the
part at one location and move it another location
11. What is meant by PID control?
The PID controller produces an output signal consisting of three terms-one
proportional to error signal, another one proportional to integral of error signal
and the third one proportional to derivative of error signal.
12. Define planning.
Planning can be viewed as a type of problem solving in which the agent uses beliefs
about actions and their consequences to search for a solution.
13.What are the features of an ideal planner?
i. The planner should be able to represent the states, goals and actions. ii. The
planner should be able to add new actions at any time.
iii. The planner should be able to use Divide and Conquer method for
solving very big problems.
14. What are the components that are needed for representing an action? The
components that are needed for representing an action are:
i.
Actionescription. ii.
Precondition.
iii. Effect.
15. What are the components that are needed for representing a plan? The
components that are needed for representing a plan are:
i. A set of plans steps.
ii. A set of ordering constraints.
iii. A set of variable binding constraints.
iv. A set of casual link protection.
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SNSCE 2019
16. What are the different types of planning?
The different types of
planning are as follows: ii.
Progressive
planning. iii. Regressive
planning. iv. Partial order
planning.
v. Fully instantiated planning.
6. What are the ways in which incomplete and incorrect information‟s can be
handled in planning?
They can be handled with the help of two planning agents namely,
i. Conditional planning
agent. ii. Replanning agent.
7. Define a solution.
A solution is defined as a plan that an agent can execute and thjat
guarantees the achievement of goal.
8. Define a complete plan.
A complete plan is one in which every precondition of every step is
achieved by some other step.
9. Define a consistent plan.
A consistent plan is one in which there are no contradictions in the
ordering or binding constraints.
10. Define conditional planning.
Conditional planning is a way in which the incompleteness of information is
incorporated in terms of adding a conditional step, which involves if – then rules.
11. Give the classification of learning process.
The learning process can be classified as:
i. Process which is based on coupling new information to previously
acquired knowledge
a. Learning by analyzing differences.
b. Learning by managing models.
c. Learning by correcting mistakes.
d. Learning by explaining experience.
ii. Process which is based on digging useful regularity out of data, usually called
as Data base mining:
a. Learning by recording cases.
b. Learning by building identification trees. c. Learning by training neural networks.
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