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EC8074 Unit 4

The document discusses various topics related to legged robots, kinematics analysis, robot singularities, lead-through programming, basic modes of operation in robot language structure, pick and place operations, PID control, planning, representation of actions and plans, types of planning, handling incomplete/incorrect information in planning, definitions of solutions, complete plans, consistent plans, and classification of learning processes. It provides information on the basic mechanisms and benefits of legged robots, different types of kinematics analysis, when robot singularities occur, the two modes of lead-through programming, robot language elements and modes of operation, what pick and place and PID control are, components needed to represent actions and plans, types of planning including progressive, regressive

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100 views

EC8074 Unit 4

The document discusses various topics related to legged robots, kinematics analysis, robot singularities, lead-through programming, basic modes of operation in robot language structure, pick and place operations, PID control, planning, representation of actions and plans, types of planning, handling incomplete/incorrect information in planning, definitions of solutions, complete plans, consistent plans, and classification of learning processes. It provides information on the basic mechanisms and benefits of legged robots, different types of kinematics analysis, when robot singularities occur, the two modes of lead-through programming, robot language elements and modes of operation, what pick and place and PID control are, components needed to represent actions and plans, types of planning including progressive, regressive

Uploaded by

lvrevathi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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net
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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