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
What does forward kinematics calculate in a robot arm?
Answer: End-effector position and orientation from joint angles
Forward kinematics computes the end-effector position and orientation given the joint angles of the robot.
How many parameters does the Denavit-Hartenberg (DH) convention use to describe each joint?
Answer: 4
The DH convention uses four parameters (a, d, alpha, theta) to describe the geometric relationship between consecutive joint frames.
Which joint type allows only rotational motion about a single axis?
Answer: Revolute
A revolute joint permits rotation about a single fixed axis and contributes one rotational degree of freedom.
In robotics, the Jacobian matrix relates:
Answer: Joint velocities to end-effector linear and angular velocities
The Jacobian maps the joint velocity vector to the resulting end-effector linear and angular velocity vector.
The workspace of a robot arm is defined as:
Answer: The set of all positions and orientations reachable by the end-effector
The workspace is the collection of all end-effector positions and orientations achievable given the robot's joint limits and geometry.
Robot kinematic singularities occur when:
Answer: The Jacobian matrix loses rank, causing loss of mobility in certain directions
Singularities arise when the Jacobian becomes rank-deficient, making it impossible to move the end-effector in one or more Cartesian directions.