Experimental Robotics Revision Notes and Important Questions
WEEK 1 – SERIAL MANIPULATOR
Introduction
A Serial Manipulator is a robot made of rigid links connected by joints in sequence. One end is fixed
to the base and the other end carries the end-effector.
Features
• Open kinematic chain structure
• Links connected in series
• High flexibility
• Large workspace
• Used in industries
Degrees of Freedom (DOF)
DOF is the number of independent joint motions possible in a robot.
Example: UR5 robot has 6 DOF.
End Effector
Device attached at robot arm end.
Examples:
• Gripper
• Welding tool
• Marker
• Suction cup
Functions
• Pick and place
• Welding
• Painting
• Material handling
Denavit-Hartenberg (DH) Parameters
Used to assign coordinate frames and describe link relationships.
Forward Kinematics
Determines end-effector position and orientation from known joint variables.
Motion Commands
Move J
• Joint space interpolation
• Fast movement
• Path not straight
Move L
• Linear Cartesian motion
• End-effector moves in straight line
• Used for drawing, welding
Move P
• Smooth continuous path through many points
• Constant TCP speed
Applications
• Manufacturing
• Assembly lines
• Packaging
• Medical robots
WEEK 2 – TRACKED MOBILE MANIPULATOR
Introduction
Combination of tracked mobile base and robotic manipulator arm.
Main Parts
• Tracked vehicle base
• Serial manipulator
• Camera
• Sensors
• Controller
Advantages
• Moves on rough terrain
• Better traction and stability
• Large workspace
• Performs manipulation tasks
Agricultural Applications
• Plant disease detection
• Pesticide spraying
• Watering plants
• Harvesting assistance
Turning Mechanism
• Right turn → Left track faster than right track
• Left turn → Right track faster than left track
Working Process
1. Navigate to field
2. Capture image
3. Analyze crop health
4. Spray pesticide
Importance of Disease-Based Spraying
• Reduces chemical waste
• Targeted spraying
• Saves money
• Protects crops
Advantages over Wheeled Robots
• Better grip
• Works on muddy land
• Stable on uneven surface
WEEK 3 – HEXAPOD ROBOT
Introduction
Hexapod robot is a six-legged walking robot.
Features
• Six legs
• Can walk on rough terrain
• Climbs small obstacles
• High stability
Leg Structure
Each leg has 3 revolute joints.
Duty Factor (β)
Duty factor = Number of legs in contact with ground / Total legs
𝑛𝑔
𝛽=
6
Where:
• β = Duty factor
• ng = legs touching ground
Example
3 1
If 3 legs touch ground: 𝛽=6=2
4 2
If 4 legs touch ground: 𝛽=6=3
Effect of High Duty Factor
• More legs on ground
• Better balance
• More stability
Path Planning
Decides body movement path.
Gait Planning
Controls sequence of leg movements.
Sensors Used
• Infrared sensors
• Ultrasonic sensors
• Camera
Controller
ARM Cortex-M4 microcontroller used.
User Interaction Features
• Camera
• Microphone
• Speakers
• RGB LEDs
Charging Time
• Wired charging = 2.5 hours
• Wireless charging = 4.5 hours
WEEK 4 – HUMANOID ROBOT
Introduction
Humanoid robot resembles human body structure and movement.
Features
• Human-like appearance
• Walking capability
• Human interaction
• Intelligent behavior
Walking Cycle
Complete walking cycle has:
• Two single support phases
• Two double support phases
Support Phases
Single Support Phase
Only one leg touches ground.
Double Support Phase
Both legs touch ground.
Dynamic Balance
Maintaining body stability while walking.
Importance:
• Prevent falling
• Smooth walking
• Proper posture
NAO Robot
NAO robot
• Humanoid robot used in experiments
• Has 25 Degrees of Freedom
Important Joints for Balance
• Hip joints
• Knee joints
• Ankle joints
• Upper body coordination
Programming Software
Choregraphe
Used for:
• Programming
• Simulation
• Motion control
Why Simulation First?
• Safe testing
• Prevent hardware damage
• Check balance before real execution
Surface Condition
Walking surface must be non-slippery.
Drone Stability
Stable flight depends on real-time rotor thrust and attitude control.
Important Questions and Answers
WEEK 1
1. A serial manipulator is:
a) Closed chain robot
b) Open kinematic chain with links in series
c) Wheeled robot
d) Parallel robot
2. UR5 robot is:
a) 3 DOF robot
b) 4 DOF robot
c) 6 DOF serial manipulator
d) Humanoid robot
3. End effector is used to:
a) Support structure
b) Increase stiffness
c) Perform tasks / interact with environment
d) Power controller
4. DH parameters are used for:
a) Jacobian matrix
b) Coordinate frame assignment
c) Battery control
d) Torque control
5. Forward kinematics determines:
a) Joint angle from position
b) End effector position from joint variables
c) Motor speed
d) Battery life
6. Straight line drawing uses:
a) Move J
b) Move L
c) Move P
d) Halt
7. Move J and Move L difference:
a) Move J = joint interpolation, Move L = Cartesian interpolation
b) Same motion
c) Both straight line
d) Both circular
WEEK 2
8. Tracked mobile manipulator is:
a) Wheeled robot
b) Serial manipulator on tracked base
c) Drone robot
d) Fixed arm robot
9. Agricultural robot can perform:
a) Disease detection
b) Spraying
c) Watering
d) All of these
10. Tracks are preferred because:
a) High speed only
b) Better traction and stability
c) Less weight
d) Cheap cost
11. Right turn occurs when:
a) Both same speed
b) Right track faster
c) Left track faster
d) Both stop
12. Disease detection uses:
a) Temperature sensor
b) Camera module
c) Soil sensor
d) Speaker
13. Correct workflow:
a) Spray → Navigate
b) Navigate → Capture image → Analyze → Spray
c) Analyze → Stop
d) Water → Move
WEEK 3
14. Hexapod robot has:
a) 4 legs
b) 6 legs
c) 8 legs
d) 2 legs
15. Duty factor is:
a) Speed ratio
b) Number of legs touching ground / 6
c) Battery ratio
d) Height ratio
16. If 3 legs touch ground, duty factor:
a) 1/3
b) 1/2
c) 2/3
d) 1
17. If 4 legs touch ground, duty factor:
a) 1/2
b) 2/3
c) 1
d) 1/3
18. Increase in duty factor gives:
a) Less stability
b) Better stability
c) No change
d) Air motion
19. Each hexapod leg has:
a) 2 joints
b) 3 revolute joints
c) 4 joints
d) 5 joints
20. Sensors used:
a) Infrared + Ultrasonic
b) GPS only
c) Camera only
d) None
21. Main controller:
a) ARM Cortex-M4
b) Intel i5
c) Ryzen
d) AT89C51
22. Wired charging time:
a) 1 h
b) 2.5 h
c) 4.5 h
d) 5 h
23. Wireless charging time:
a) 2 h
b) 4.5 h
c) 1 h
d) 6 h
WEEK 4
24. Humanoid robot means:
a) Wheeled robot
b) Human-like appearance and walking
c) Drone
d) Industrial arm
25. Complete walking cycle has:
a) One support phase
b) Two single + two double support phases
c) Only single support
d) Only double support
26. Dynamic balance is needed to:
a) Increase speed
b) Prevent falling during motion
c) Reduce battery
d) Change direction
27. NAO robot has:
a) 18 DOF
b) 20 DOF
c) 25 DOF
d) 30 DOF
28. Important joints for balance:
a) Upper body only
b) Hips, knees, ankles + upper body
c) Camera system
d) Battery system
29. Software used for NAO robot:
a) MATLAB
b) Choregraphe
c) Simulink
d) ROS only
30. Stable drone flight depends on:
a) Camera count
b) Rotor thrust and attitude control
c) Color
d) Landing gear