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### Quiz1Solutions

Course: MECH 338, Fall 2009
School: Santa Clara
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338 MECH Robotics II Winter 2009 Name: _________________________________ QUIZ 1. Given our discussions in lecture, for a single link revolute arm, what is (are) the benefit(s) of using a partitioned controller? a) Decouples the equation of motion dynamics from the point of view of the servo portion of the controller b) Decouples the plant physics from the performance criteria when selecting gains c) Linearizes...

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338 MECH Robotics II Winter 2009 Name: _________________________________ QUIZ 1. Given our discussions in lecture, for a single link revolute arm, what is (are) the benefit(s) of using a partitioned controller? a) Decouples the equation of motion dynamics from the point of view of the servo portion of the controller b) Decouples the plant physics from the performance criteria when selecting gains c) Linearizes the dynamics from the point of view of the servo portion of the controller d) All of the above 2. Given our discussions in lecture, for a two link revolute arm, what is (are) the benefit(s) of using a partitioned controller? a) Decouples the equation of motion dynamics from the point of view of the servo portion of the controller b) Decouples the plant physics from the performance criteria when selecting gains c) Linearizes the dynamics from the point of view of the servo portion of the controller d) All of the above 3. What distinguishes a dual-rate control system from a standard control system, and why might a dual-rate control system be used when controlling a manipulator? Update terms at rate slower than servo rate. Can be used to reduce computation load. 4. The primary benefit of Cartesian trajectories is that the end-effector travels in a smooth straight line in the workspace, which can be desirable for many applications. In lecture, in the book, and in of one the homework assignments, we reviewed the three primary drawbacks of Cartesian trajectories. Precisely state two of these. Paths can go out of workspace. Some trajectories in workspace require handedness flipping. Paths near singularities 5. Given our standard joint space dynamic equations of motion for a manipulator, what is "alpha" equal to when we use a joint space partitioned controller? Alpha = M 6. For Cartesian controllers, one could use an inverse Jacobian controller or a Jacobian transpose controller. For one of these, the control law (e.g., use of the control gains, etc.) is computed AFTER the Jacobian-based function (be it the inverse or the transpose), and for the other, the control law is computed BEFORE the Jacobian-based function. Which of these applies the control law FIRST, then multiplie...

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