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Robotics Fundamentals
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1
Question
What is a robot as defined by the Robotics Industry Association?
Answer
A re-programmable, multi-functional manipulator that moves materials or parts via programmed motions to perform a task.
2
Question
How is an intelligent robot characterized?
Answer
A machine that extracts information from the environment and uses knowledge to move safely and purposefully.
3
Question
What distinguishes an autonomous robot from teleoperation?
Answer
An autonomous robot senses and acts in the environment to achieve goals without human control.
4
Question
What are the main components listed under Industrial Robot Anatomy?
Answer
End effector, tools, grippers, controller, power, mechanical manipulator, link, joint, base.
5
Question
What is an end effector?
Answer
The device at the end of a robotic arm that interacts with the environment (gripper or tool).
6
Question
Name two types of joints found in industrial robots.
Answer
Prismatic (linear) and Revolute (rotational) joints.
7
Question
What does the work volume (envelope) of a robot describe?
Answer
The space of all points the robot arm can reach.
8
Question
What does Degrees of Freedom (DoF) refer to in manipulators?
Answer
The number of independent position variables needed to locate all parts.
9
Question
What are the two basic robot programming methods?
Answer
Lead-through (teaching-by-showing) and off-line computer programming.
10
Question
What is Lead-through programming?
Answer
The manipulator is moved through the cycle, and the controller records positions for playback.
11
Question
What is off-line programming?
Answer
Robot program is prepared on a computer and downloaded to the controller.
12
Question
What are autonomous mobile robots primarily concerned with?
Answer
Perception, planning, and motor generation to move through real-world environments.
13
Question
List three historical robots mentioned and a key feature for each.
Answer
Tortoises: reactive control with reflexes; Shakey: AI-based navigation with vision; Braitenberg vehicles: direct sensor-to-motor connections.
14
Question
Who built Shakey and when?
Answer
Stanford Research Institute (SRI) in the 1960s.
15
Question
What was Braitenberg’s main idea about simple robots?
Answer
Simple sensor-to-motor connections can produce seemingly complex, animal-like behaviors.
16
Question
Why use robots in the three D’s: dirty, dull, and dangerous tasks?
Answer
To perform undesirable tasks humans shouldn't or can't do safely or efficiently.
17
Question
Name three application areas listed for robots in society.
Answer
Autonomous driving, warehousing and logistics, search and rescue.
18
Question
What is one major challenge related to sensors in robotics?
Answer
Sensors have limited range, resolution, and are prone to noise and failure.
19
Question
What does uncertainty imply for robot decision-making?
Answer
Algorithms are approximate; robots cannot guarantee perfect decisions.
20
Question
Name one control architecture: Pure Reactive.
Answer
Control uses current world estimate to act; fast and simple.
21
Question
Describe Deliberative (Sense-Plan-Act) architecture.
Answer
Sequential flow: sensing, planning, then acting.
22
Question
What is Subsumption architecture?
Answer
Reactive behavior-based decomposition into layered sub-behaviors.
23
Question
What is a Hybrid/Three-tiered Architecture concept?
Answer
Planning at top, executive middle, and behavioral control bottom.
24
Question
What are the three questions in Autonomous Mobile Robot design?
Answer
Where am I (Localization), Where am I going (Planning), How do I get there (Motor Generation).
25
Question
What is odometry in mobile robotics?
Answer
Dead reckoning to estimate position from previous position, heading, and velocity.
26
Question
What is a key advantage of odometry?
Answer
Self-contained estimation along a path without external references.
27
Question
What is a major disadvantage of odometry?
Answer
Position error grows over time due to drift.
28
Question
What sensors does the Roomba example use?
Answer
Cliff sensors, bump sensors, wall sensors, and an optical encoder.
29
Question
Name a behavior demonstrated by the Roomba patent example.
Answer
Wall-following and straight movement with random turns after distance or bump.
30
Question
How is the robot system architecture defined?
Answer
How a system is divided into subsystems and how they interact.