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CS545FinalQuestionCatalogue - CS545Introduction to Robotics...

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CS545–Introduction to Robotics Catalogue of Questions for Final Exam 1. (8 Points) You implemented a PD controller for a robot based on sensor reading ob- tained from position sensors. In the first test run, you notice that there are vibrations and oscillations in one degree-of-freedom. Give at least 4 possible causes for these vibrations, and for each cause how you would try to improve the robot performance. 2. (4 Points) What are the major reasons that make the control of interaction forces more complicated than normal control without interaction forces? Provide at least 4 issues. 3. (4 Points) Explain briefly the goal of impedance control of an endeffector. 4. (8 Points) You need to buy a position sensor for a rotary joint in a robot. You are torn between a potentiometer and an optical encoder. Give at least two pros and cons for both the potentiometer and the optical encoder. 5. (8 Points) You used the linear-quadratic regulator (LQR) design in Matlab to obtain good control gains for the cart pole balancer. A) In order to calculate the LQR gains, what knowledge about the controlled system did you need to have (i.e., what are the names of the inputs to the LQR function in Matlab). B) How would you instantiate the elements from A) numerically such that you can use the Matlab lqr function. (keywords are sufficient) 6. (8 Points) Give the generic control law for a gravity compensation controller for a rigid body dynamics system, and explain the terms in the control law with key- words. How does this control law differ from an inverse dynamics control law? 7. (5 Points) Give 3 ideas how you would debug software that needs to run in a very fast real-time robotic system. Give two classical debugging methods that you are NOT supposed to use in a real-time control loop. 8. (6 Points) Robotics can be divided in (at least) two major classes: mobile robotics (=robots on wheels), and manipulator robotics (robot arms, robot legs, etc.). Give 3 reasons why these two areas largely focus on different research topics. 9. (8 Points) What are the major 4 conceptual steps in performing a local stability analysis of a robotic system with a given control law? 10. (4 Points) What is the difference between Euler Angle and Fixed Angle coordinate transformations?
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2 11. (4 Points) What are the major research problems that remain to be solved before we can build an autonomous humanoid robot? Give at least 4 points. 12. (2 Points) Give the Laplace Transform of the function ˙ x = sin( x ) . 13. (4 Points) Which elements make a real-time operating system different from a nor- mal UNIX operating system? Give at least two points. 14. (4 Points) Give a feasible control law for all 7 degrees-of-freedom for the honey- sphere task from the lab assignment including the gravity compensation element.
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