CRE Robot Kinematics & Mechanics Flashcards
6 cards from real CRE practice questions. Tap to flip, then mark Knew It or Still Learning — missed cards come back until you master them.
Read the first 6 CRE Robot Kinematics & Mechanics flashcards as text
Configuration space (C-space) in motion planning represents:
Answer: The space of all possible joint variable combinations
C-space maps each unique combination of joint values to a single point, converting complex geometric collision checks into point-obstacle avoidance.
The RRT (Rapidly-exploring Random Tree) algorithm is classified as:
Answer: A sampling-based motion planning algorithm
RRT builds a tree by randomly sampling the configuration space and extending toward samples, efficiently exploring high-dimensional spaces.
Potential field motion planning methods can suffer from:
Answer: Local minima that trap the robot before reaching the goal
Attractive goal forces and repulsive obstacle forces can balance at points other than the goal, permanently trapping the robot in a local minimum.
A cubic polynomial trajectory for joint motion guarantees:
Answer: Continuous position and velocity at start and end waypoints
Cubic polynomials provide four coefficients to satisfy position and velocity boundary conditions at both endpoints, ensuring smooth C1-continuous motion.
Effective collision avoidance during path planning requires:
Answer: Geometric models of both the robot links and environmental obstacles
To detect potential intersections, the planner must represent the 3D shapes of every robot link and all obstacles in the scene.
Degrees of freedom (DOF) of a robot refers to:
Answer: The number of independent joint variables defining the robot's configuration
DOF counts the independent joint variables needed to fully specify the robot's configuration; typically each joint contributes one DOF.