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{Week 3 & 5} Advanced Robotics nptel Assignment Answers 2025

By / February 1, 2025

NPTEL Advanced Robotics Week 3 Assignment Answers 2025

1. A PUMA robot is shown below. The frames have been assigned. The first
row of the DH table (in the order of: α, a, d, θ) is given by

  • -90, 0, 0, θ2
  • 0, 0, 0, θ1
  • 90, 0, 0, θ1
  • 0, 0, 0, θ2
Answer :-  For Answers Click Here

2. Given the joint angles and link parameters, finding the position and orientation of the last frame is

  • Forward kinematics
  • Inverse kinematics
  • Forward dynamics
  • Inverse dynamics
Answer :-

3. In the 6 DOF PUMA robot the last three axes are:

  • planar
  • parallel
  • orthogonal and intersect at a point
  • not intersecting
Answer :-

4. For the 2 DOF (2R) planar manipulator shown below, the coordinate (x,y)
is given by

  • l1cosθ1+l2cosθ2,l1sinθ1+l2sinθ2
  • l1cosθ1+l2cos(θ1+θ2),l1sinθ1+l2sin(θ1+θ2)
  • l1sinθ1+l2sinθ2,l1cosθ1+l2cosθ2
  • l1sinθ1+l2sin(θ1+θ2),l1cosθ1+l2cos(θ1+θ2)
Answer :-

5. Inverse Kinematics is defined as given the position and orientation of the
end effector or last frame find the

  • position and orientation of the remaining frames
  • joint angles/lengths
  • joint rates
  • joint positions
Answer :-

6. The workspace where the end effector can reach in all orientations is called

  • Planar workspace
  • Reachable workspace
  • Dexterous workspace
  • All of the above
Answer :-  For Answers Click Here

7. For the 2 DOF planar manipulator shown in Q4, for a given (x,y) how many solutions are generally possible (in the center of the workspace)

  • 1
  • 2
  • 3
  • 4
Answer :-

8. The function Atan2 computes the tan inverse using only

  • +sin, +cos values
  • -sin, -cos values
  • +sin, -cos values
  • -sin, +cos values
Answer :-

9. For the 2 DOF (2R) planar robot arm given in Q4, the position of the end
effector (x,y) is given by (1.8315,0.74), link lengths l1 = l 2 = 1 unit. Find the
value of θ2

  • 13
  • 15
  • 18
  • 21
Answer :-

10. For the problem given in Q9, find the value of θ1

  • 13
  • 15
  • 18
  • 21
Answer :- For Answers Click Here

NPTEL Advanced Robotics Week 5 Assignment Answers 2025

1. A redundant manipulator has

  • 3 degrees of freedom (DoFs)
  • 4 DoFS
  • more DoFs than required to do the task
  • 6 DoFs
Answer :- For Answers Click Here

2. The Jacobian of a 3 DoFs planar manipulator has dimension (excluding
orientation of end-effector)

  • 2×3
  • 3×2
  • 2×2
  • 3×3
Answer :-

3. The end-effector velocity x˙ is related to the joint velocity θ˙ by the relation x˙=Jθ˙ where J
is the Jacobian matrix. If J has dimension (m×n) where m≠n, then J†J has dimension (J† is read as pseudo-inverse of the Jacobian matrix)

  • m×n
  • n×m
  • m×m
  • n×n
Answer :-

4. Given x˙=Jθ˙ where J is the Jacobian matrix of dimension (m × n), then the motion in the null-space which do not affect the end-effector velocity (x˙) is given by

  • J−1x˙
  • J†x˙
  • (I−J†J)k
  • (I−J†J)
Answer :-

5. In an n-link serial manipulator, if the joint velocities are contained in a
unit sphere then the end effector velocities are contained in a

  • n-dimensional hyper ellipsoid.
  • n-dimensional sphere of radius less than unity.
  • n-dimensional sphere of radius greater than unity.
  • in an ellipse.
Answer :-

6. Task decomposition or redundancy resolution of a redundant manipulator
means

  • controlling the position and velocity of the end-effector simultaneously.
  • controlling the joint velocities by imposing constraints.
  • breaking the whole task of the robot into various sub-tasks depending
    on priorities.
  • applying a random combination of the joint velocities until a desired
  • motion is obtained.
Answer :- For Answers Click Here

7. We have a global fixed frame and a local frame attached to the rigid body. Then the minimum number of degrees of freedom to define the position and orientation of the rigid body in 3-dimensional space is

  • 3
  • 6
  • 5
  • 4
Answer :-

8. The linear velocity of a rigid arises due to its

  • linear velocity.
  • angular velocity.
  • combination of both linear and angular velocity
  • All the above
Answer :-

9. Angular velocity matrix is a

  • Symmetric matrix.
  • Semi-positive definite matrix.
  • non-square matrix.
  • Skew symmetric matrix.
Answer :-

10. When a robot manipulator is moving from one point to another the an-
gular velocity of the next link is equal to

  • the sum of the angular velocity of the previous link and its own angular
    velocity.
  • the sum of the angular velocity of the previous link and its own linear
    velocity.
  • angular velocity of the previous link.
  • the sum of the linear velocity of the previous link and its own linear
    velocity.
Answer :- For Answers Click Here

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