第1題Sincethebirthofindustrialrobots,the()industryhasalwaysbeenthemainfieldoftheirapplication.()

AElectronicBCommunicationCCar第2題Industrialrobotsareprogrammableoperatingmachineswithautomaticcontroland()functionsthatcancompletevarioustasks.()

AMobileBObserveCprotect第3題3.Robotswerebornundertheguidanceofcontroltheoryand(),integratingtheachievementsofdisciplinessuchasmechanics,microelectronics,computerscience,andsensingtechnology.()AA.SystemtheoryB

BScientificMethodology

CC.InformationTheory

DDOptimalTheory第4題Theterm'robot'wasfirstproposedbyCzechwriter()inhissatiricalplay'TheUniversalRobotofRodongheim'in1920.()AA.KarelChapek

BBDavorC

CIsaacAsimov

DDMarkNewson第5題()Theinformationofrobotactionsisprovidedbyaprogrammedcomputerprogram,andtherobotperformstasksbasedontheactioninformation.

AWheeledBNumericalControlCSpotwelding第6題Parallelrobotreferstoaclosed-loopstructurerobotwithtwoormoredegreesoffreedomconnectedbyatleasttwomovablelinkagesbetweenthemotionplatformand().AArmBBaseCWrist第7題Thebody,arms,wrists,andendeffectorarecommonlyreferredtoasthe()ofarobot.

AActuatorBJointCBodyDOperatingarm第8題Accordingtodifferenttypesofindustries,industrialrobotscanbedividedinto().AIndustrialrobotsBAgriculturalrobotsCForestryrobotsDMedicalrobots正確答案：ABCD第9題Themechanicalsystemofindustrialrobotsgenerallyincludespartssuchasthebodyand().

AArmBWristCBaseDEndeffector正確答案：ABCD第10題Thedesignprocessofindustrialrobotsisaninterdisciplinarycomprehensivedesignprocess,involvingmultipleaspectssuchas()andautomaticcontrol().AMechanicalDesignBLoadCapacityCSensingTechnologyDComputerApplications正確答案：ABCD第11題Theshapeandsizeoftherobot'soperatingrangewillaffecttherobot's(),thedistancebetweenthejointaxesofeacharm,andthesizeandvariationrangeofthejointaxisangles.

ACoordinateformBBearingcapacityCAccuracy

Dfreedom第12題CommonformsofrobotmotionincludeCartesiancoordinates().ACylindricalcoordinatetypeBSphericalcoordinatetypeCJointcoordinatetype

DSCARAtype正確答案：ABC第13題Thepositioningaccuracythattherobotitselfcanachievedependsonfactorssuchastherobot'spositioningmethod,(),andthebufferingmethodadopted.

AMotionspeedBControlmodeCArmstiffnessDDrivemode正確答案：ABCD第14題Clawshavecertainusability,andtheirmainfunctionis().AGrasptheworkpieceBHoldtheworkpieceCReleasetheworkpiece

D

Movingworkpieces正確答案：ABC第15題Thevacuumadsorptionhandismainlyusedfortransportingobjects().ALargevolumeBLightweightCFragileDSmallvolume正確答案：ABCD第16題Thewalkingmechanismcanbedividedinto()andotherwaysaccordingtoitsstructure.

AWheeltypeBWalkingtypeCCrawlertypeDFixedtype正確答案：ABC第17題Ordinaryelectrictoyslacksensoryandrecognitionabilities,cannotbeprogrammed,andthereforecannotbecalledtruerobots.

第18題Thethirdgenerationofrobotsisemotionalrobots,whichhaveemotionssimilartohumans.

第19題Servicerobotsrefertovariousadvancedrobotsusedinnonmanufacturingindustriesandservinghumans,includingentertainmentrobots,welfarerobots,securityrobots,etc.

第20題Cartesiancoordinaterobotshavearelativelylargestructure,asmallrangeofmotion,poorflexibility,andalargefootprint.

第21題Thecontrolsystemofindustrialrobotsisequivalenttothehumanbody.

第1題Thetwomostcommonlyusedjointsforrobotsarethemovingjointandthe()joint.

ARotationBRotateCSwingingDStatic第2題Thejointsofindustrialrobotmanipulatorarmsareoftensingledegreeoffreedomactive,thatis,eachjointisdrivenbyadriver.()

AJointBConnectingrodCSportsVice第3題Thetypeofjointintherobotarmdeterminestheformoftheoperatingrangeofthearm.()

A

TwoBThreeCFourofthem第4題Ball()coordinaterobotshavemovingjointsandtworotatingjoints,andtheiroperatingrangeishollowspherical.

A

TwoCsThreeBFourofthemCThreeDthem第5題Typically,arobotarmhasthreejointsusedtochangethepositionofthewristreferencepoint,knownasthe()mechanism.

ADirectionalBRotationCMobile第6題Robotsarebestsuitedforplanarpositioningandverticalassembly,hencetheyarealsoknownasassemblyrobots.()ASCARAtype

BCRRtypeCCCRtypD

PCRtype第7題Themostcommonstructuralformofrobotsisdescribedbytheir()characteristics.

A

ExerciseBOperationCCoordinateDStructure第8題Generalrobotsare(),alsoknownasdemonstrationreproductionrobots,mainlyreferringtoindustrialrobotsthatcanonlyworkinademonstrationreproductionmode.

AThesecondgenerationrobotBThethirdgenerationrobotCFourthgenerationrobots第9題Arobotsystemiscomposedofrobots,(),andtheenvironment.

AControllerBAssignmentobjectCScopeofhomework第10題Thedrivingsystemmainlyreferstothedrivingdevicethatdrivestheactionsofthe()system.

AControlBElectricalCMechanics第11題Whattasksshouldindustrialrobotspreparebeforeassemblingcomponents().AObtaintherequiredtoolsBObtaintherequireddrawings

C

CollectpartsaccordingtothepartslistD

Selfinspectionofparts正確答案：AB第12題Whatcoordinatesystems()doindustrialrobotsgenerallyinclude.AWorldcoordinatesystem

B

JointcoordinatesystemCUsercoordinatesystemDWorkpiececoordinatesystem正確答案：AB第13題Thereareseveraldrivingmethodsforindustrialrobots,including:().APneumaticBHydraulicCGas正確答案：AB第14題Thecommonlyuseddynamicmethodsforbuildingrobotsare().

ANewtonBLagrangeCSecondary

D

curve正確答案：AB第15題Cylindricalcoordinaterobotsaremainlyusedfortaskssuchasheavyobjects.()ALoadingandunloading

B

Classification

CHandlingDInspection正確答案：AB第16題Robotkinematicsisthestudyoftherelationshipbetweentheendeffectorofarobotandjointspace.()

AExerciseBStackingCspray第17題Thethreeactionmodesofrobotsgenerallyreferto().

AOnlineBRemoteCManual正確答案：AB第18題Whendisassemblingandassemblingindustrialrobots,becarefulnottoletthesealantflowintothereducerwhenusingit,otherwiseitmaycausethefollowingproblemswiththeindustrialrobot.()AThereducerisleakingoil

BDamagetothesealingringofthereducerCIncreasednoiseofthereducer

DReduceroverheating正確答案：AB第19題Therobotcontrolsystemisa()multivariablecontrolsystem.

ACoupledBNonlinearCRandom正確答案：AB第20題Robotsaretypicalelectromechanicalintegrateddevices.

第21題Microrobotsarealsoknownas"tomorrow'srobots".Itisarisingstarinthefieldofroboticsresearch,similartointelligentmachines第22題Manipulativerobotsaremainlyusedforvariousoperationsinindustrialproduction,andcanbedividedintoservicerobotsandspecialoperationrobots.

Chapter3Homework第1題Internalstatesensorsareusedtodetectvariablessuchaspositionandvelocityofeachjoint,providingfeedbackinformationforthe()controlsystem.

A

OpenloopservoBClosedloopservoCElectricalDobject第2題Degreesoffreedomgreaterthan()arecalledredundantdegreesoffreedom.

AFourBFiveCSixDSeven第3題()Thedegreeoffreedomincreasestheflexibilityoftherobot,makingiteasierfortherobottoavoidobstaclesandimproveitsmovementandperformance.()ARedundancyBMovementCJoint

DMovement第4題()referstothedeviationbetweentheactualpositionoftherobot'sendeffectorandthetargetposition.

AControlaccuracyBRepetitiveaccuracyCMotionaccuracyDPositioningaccuracy第5題Thescopeofthetaskisthesetofallpointsthattherobotcanreachduringmotionoratthecenterofthewrist,alsoknownastheworkarea().AEndofarmBBigarmCSmallarmDEndofwrist第6題Mechanicalsystemstypicallyincludeabody,arms,joints,and(),withmultipledegreesoffreedom.

AWristBBodyCGrabToolDend第7題()referstotheminimummovementdistanceorrotationanglethateachaxisoftherobotcanachieve.()

ADegreeoffreedom

BRotationangle

CWorkingspeed

DResolution第8題Robotsmusthaveabasiccomponentthatiseasytoinstall().

ABodyBBigarmC

MachinebaseDjoint第9題Degreesoffreedomareanimportanttechnicalparameterofrobots,determinedbytheir()form.

A

MechanicalStructureBJointCArmDnoumenon第10題Theoperatingrangeoftherobotneedstobedeterminedbasedonthetrajectoryofitsmovement().

A

MechanicalStructureBControlrequirementC

TaskObjectDtechnologicalrequirements第11題Thebasicfunctionsofrobotlanguageinclude()andsensordataprocessing.

AOperationBDecisionCCommunicationDToolinstructions正確答案：ABC第12題Internalsensorstypicallyconsistof()sensors.

APositionBAngle

CSpeedDAcceleration正確答案：AC第13題Theabsolutephotoelectricencodermainlyconsistsof().

AMultichannellightsourceBphotosensitiveelement

CEncodingdiskDController正確答案：AB第14題Theincrementalphotoelectricencodermainlyconsistsof()andaconversioncircuit.

ALightsourceBCodewheelCDetectinggratingDPhotoelectricdetectiondevice正確答案：ABC第15題Machinevisionsystemsgenerallyconsistoflightingsystems,visualsensors,(),communicationunits,etc.

AImageacquisitioncard

BImageprocessingsoftwareCDisplayD

calculation正確答案：ABC第16題Commonimageprocessingmethodsinclude(),imagerecognition,imageencodingandcompression,etc.

AImageenhancementBImagesmoothingC

Edgesharpening

Dimagesegmentation正確答案：ABC第17題ThecalculationmethodsofJacobianmatrixinclude(),etc.

AFormuladerivationmethod

BCalibrationmethod

CEstimationmethodDmethodsoflearning正確答案：AC第18題Accordingtotheirfunctions,thehardwaresystemofthevisualarcweldingrobotcanbedividedinto().

ARobotSystem

BVisualSystemCWeldingsystemDpositioningsystem正確答案：AB第19題Accordingtothelevelofhomeworkdescription,robotlanguagecanusuallybedividedinto().

A

Environmentalgrade

BActionlevel

C

Objectlevel

DTasklevel正確答案：ABC第20題Therobotlanguagesystemincludesthelanguageitself,therobotcontrolcabinet,(),andperipheraldeviceinterfaces.()

ARobot

BSoftwareProgram

C

Assignmentobject

D

surroundingenvironment正確答案：BC第21題Accordingtotheimplementedmotionmode,thedrivingmechanismcanbedividedintotwotypes:directdrivingmechanismandrotarydrivingmechanism.

第22題Thecommonlyuseddrivingmethodsforrobotsmainlyincludethreebasictypes:hydraulicdrive,pneumaticdrive,andelectricaldrive.

第23題3.Thecompressibilityofthemediuminthepneumaticsystemissmall,thesystemoperatessmoothlyandreliably,andcanachievehighpositionalaccuracy.

第24題4.Hydrauliccomponentshavelowerworkingpressure,sothemanufacturingrequirementsarealsolowerthanthoseofpneumaticcomponents,andthepriceischeaper.

第25題5.Steppermotorsaremostlyopen-loopcontrolled,withsimplecontrolbutlowpower,morecommonthanhigh-precision,low-powerrobotsystems.

Chapter4Homework第1題Thetotalactiontimeoftherobotshouldbelessthanorequalto().

AExercisetimeB

Tasktime

C

Operationtime

DWorkpace第2題()isacomponentthatdirectlyconnects,supports,anddrivesthearmandwalkingmechanism.

AAMachinebase

B

Body

C

Wrist

D

joint第3題Thedrivingmechanismisusedtotransmitthemotionofthedrivingcomponentstothe()andactionpartsoftherobot.

AJoint

BThewristislargeCArmDForearm第4題Theforminwhichthedrivingmotorisinstalledinsidethejointiscalledthe()

AIndirectBMotorCelectricalD

electric第5題Electricaldrivereferstotheuseofanelectricmotortodrivetheactuatordirectlyorthrougha()transmissiondevice.

ABall

BMechanicalC

Motor

Dservo第6題()cannotonlytransmitmotionangulardisplacementandangularvelocity,butalsotransmitforceandtorque.

ABallmechanism

B

Screwmechanism

CGearmechanism

D

Reducermechanism第7題Currently,themainreducersusedinindustrialrobotsareharmonicgearreducersand().

A

RVreducerB

Wormreducer

C

Planetaryreducer

DDearreducer第8題Itismorecommonlyusedinindustrialrobotsthanrollerscrewsbecausethelatterhasalargerstructuralsizeandlowertransmissionefficiency.()

ABeltdriven

B

Ballscrew

C

Slidingscrew

DWormgeartransmission第9題()iscomposedoftwoparts:thefirststageinvolutecylindricalgearplanetaryreductionmechanismandthesecondstagecycloidalpinwheelplanetaryreductionmechanism,formingacloseddifferentialgearsystem.

AWormreducer

B

WheelreducerCHarmonicgear

Dreducer第10題()Transmissionbelongstolowinertiatransmissionandissuitableforusebetweenelectricmotorsandhigh-speedratioreducers.()ABallBGearCRollerchainDSynchronousbelt第11題Thebasicoperatingstatesincludedintherobotlanguageoperatingsystemare().

AMonitoringstatusBEditingstatus

C

Executionstatus

DDebuggingstatus正確答案：AB第12題Robotsgenerallyuseinterpolationtooperatemotioncontrol,mainlyincluding().

AJointinterpolationBLinearinterpolation

CCircularinterpolationDFreecurveinterpolation正確答案：AB第13題Whendesigningandapplyingindustrialrobots,comprehensiveandbalancedconsiderationshouldbegiventotherobot'sversatility,adaptabilitytotheenvironment,()andotherfactors.

AADurability

B

ReliabilityCEconomicefficiency

D

Applicability正確答案：AB第14題Thecontrolsystemisthecentralnervoussystemthatconstitutesindustrialrobots,consistingofcomputerhardware,software,andsomespecializedcomponents.()

AProgram

B

Circuit

C

Controller

D

Driver正確答案：ABC第15題Overall,robotcontrolmethodscanbedividedinto().

AActioncontrolmethodBTeachingcontrolmethod

C

Onlinecontrolmethod

D

Programcontrolmode正確答案：AB第16題Robotscanbeclassifiedinto()basedonthedegreeofapplicabilityoftheircontrolsystemstochangesintheworkingenvironment.()

APositioncontrolBPositioncontrol

CAdaptivecontrol

D

Artificialintelligencecontrol正確答案：BC第17題Thedevelopmentofintelligentcontroltechnologyreliesontherapiddevelopmentofartificialintelligencetechnologiessuchas()inrecentyears.

ANeuralNetwork

BGeneticAlgorithmC

expert

Dsystem正確答案：AB第18題Thesensorscommonlyusedinassemblyrobotsare().

AVisualsensor

BTactilesensor

CProximitysensorDforcesensor正確答案：ABC第19題Thespotweldingrobotweldingsystemmainlyconsistsofauxiliarypartssuchasweldingcontroller,weldingtongs,and().

AWater

B

Oil

C

Electricity

DGas第20題Industrialrobotscanworkstablyforalongtimeinhazardousandharmfulenvironmentssuchastoxic,dusty,and().

ANoise

BVibration

CHightemperature

D

inflammableandexplosive正確答案：ABC第21題1.Themechanicalpartofindustrialrobotsmainlyconsistsoffourparts:body,base,arm,andhand.第22題2.Thelumbardrivemotorisofteninstalledverticallyinverted.第23題3.Formediumandlargerobots,hollowRVreducersareoftenusedforeasywiring.第24題4.Therobotarmhasabiasedtorqueduetothecombinedweightofthejointsandtheworkpiece.

第25題5.Thestructuralformofthehandmustbedeterminedbasedonfactorssuchastherobot'smotionform,degreeoffreedomofgraspingaction,andmotionaccuracy.Chapter5Homework第1題Thestructuralformofindustrialrobotsoftenadoptsthelinkageformof(),andtheirdynamiccharacteristicshaveahighdegreeofnonlinearity.AConnectinseriesBAndconnectwithCTrackDservo第2題()isaplanetarytransmissionwithflexiblegearringsinkinematics,whichhasbeenwidelyusedinrobotscomparedtoplanetarygeartransmission.

AHarmonicDrive

B

ScrewdriveCBeltdriveDChaindrive第3題Chainsprockettransmissioncanconvertthelinearmotionofthechainintotherotationalmotionofthesprocket,anditsrotationalanglecanbegreaterthan().

A90degrees

B

180degrees

C270degrees

D360degrees第4題Thebodyrotationmechanismofindustrialrobotsisplacedontheliftingcylinder.()

ABottomBFronCTopDRear第5題Thearmofanindustrialrobotconsistsofalargearmandasmallarm,generallyhaving()degreesoffreedom,andcanbeextended,rotated,tilted,orraised.

ATwoBFourCThreeDSix第6題()Itneedstobeartheweightandloadoftheupperarm,lowerarm,andhands,andissubjectedtoalargemoment,aswellasthebendingmomentfromthebalancingdevice.

AShoulderjoin

BelbowjoinCArmjointD

Wristjoin第7題()Itneedstobeartheweightandloadoftheforearmandhands,andissubjectedtosignificanttorque.()

A

Shoulderjoint

BWristjoint

C

Elbowjoint

D

armjoint第8題Theextension,contraction,andlateralmovementoftherobotarmbelongto().

ARotatingmotionBParallelmovementCRotarymotionDLinearmotion第9題The()ofindustrialrobotsisacomponentthatconnectsthehandsandarms,servingtosupportthehands.

AShoulderBWristCElbow

D

Armpart第10題Thewristintheformof()ismainlyusedforsprayingoperations.()ARBRstructure

BBRRCRRRstructure第11題Industrialrobotsrefertorobotsusedinindustrialenvironments,whicharecapableofautomaticcontrol,repeatableprogramming,and()operation.

AMultifunctionalBOnlineProgrammingMultifunctionalCOnlineProgrammingDwithmultipledegreesoffreedommultipurpose正確答案：BCD第12題Currently,thereareseveralformsofcontrolandprogrammingmethodsforgeneralrobots.()

ASequentialcontrol

BTeachingdemonstrationandreproduction

C

Offlineprogramming

D

LanguageProgramming正確答案：ABC第13題Robotsusuallyusevisualsystemsinoperationsthatrequireunderstandingofthesurroundingenvironment,suchas()andcommunication.

ATestingB

Navigation

C

Objectrecognition

Dassembling正確答案：ABC第14題Typicalrobotvisionsystemconsistsof()andrelatedsoftware.()AVisualsensor

BController

C

Imageprocessingmachine

D

computer正確答案：CB第15題Thefunctionofaservomotioncontrolleristoachievemotioncontrolofservomotors,including()andothercontrols.

ADirectionBForce

C

Position

Dspeed第16題Accordingtothedifferentsourcesofcontrolcommandsforrobots,theircontrolmethodscanbedividedintolarge>andotherwipingmethods.()AProgramcontrolmodeBAdaptivecontrolmode

C

OnlinecontrolmethodDIntelligentcontrolmode正確答案：AB第17題Thetransmissionsystemoftherobotrequires()andsmallvolume,eliminatingtransmissiongapsandimprovingitsmotionandpositionaccuracy().

A

Compactstructure

B

Scalability

C

Lightweight

D

Momentofinertia正確答案：BC第18題Columnrobotsoftenadopt()orflexionextensionmotionforms,whichisacommonconfigurationform.()A

UpperandlowertypeBRotatingtype

CPitchtype

DStraighttype正確答案：BC第19題Thecommonlyusedbodystructuresforrobotsare:()

A

Elevatingandrotatingbodystructure

BPitchtypefuselagestructure

C

Directmovingfuselagestructure

DHumanlikemachinebodystructure正確答案：ABC第20題Acylindricaljoint,alsoknownasa(),isajointthatallowsoneofthetwocomponentstomoverelativetotheotherorrotatearoundamovingaxis.

A

ColumnjointB

Rotatingmobilepair

C

Rotaryjoint

D

Distributedjoints正確答案：AC第21題

Indirectteachingisconductedusingateachingbox.第22題Whenusingthedemonstrationreproductioncontrolmethod,thereisnoneedforinversematrixtransformation,andthereisnoissuewithabsolutepositioncontrolaccuracy.

第23題Inhigh-speedindustrialrobots,electricmotorsareoftenusedtodirectlydriveloadswithoutusingreducers.

第24題RobotcontrolsystemsbasedonIPC+motioncontrolcardswillbethemainstreamoffutureindustrialrobotcontrolsystems.

第25題Thesensorsusedinindustrialrobotscanbedividedintotwocategories:internalsensorsandexternalsensors.Chapter6Homework第1題Thehandsbelongtoindustrialrobots.()AExecutionelement

BController

C

Endeffector

D

Sportsequipment第2題Accordingtotheirpurposes,industrialrobothandscanbedividedintotwocategories:clawsand().

AClaw

BMagneticClaw

CClamp

Dtool第3題Avacuumgeneratorisanewtypeofvacuumsourcethatusescompressedairasitspowersource,andutilizesthehigh-speedgasflowingandsprayingin()togeneratevacuumbythesuctionofsurroundinggas.

AVenturitubeBPitottube

C

U-shapedtubeDcontrolvalve第4題Usually,theeffectiveadsorptionareaofthesuctioncupistakenasabout()ofthesuctioncuparea,andthevacuumdegreeistakenasabout90%ofthemaximumvaluegeneratedbythevacuumpump.()A60%

B80%C90%D70%第5題()isoneofthekeycomponentsfortheentireindustrialrobottocompletetaskswellandwithgoodflexibility.()

AAWristB

Arm

C

Hand

DJointarea第6題Handscanbedividedintotwotypesbasedontheirgrippingprinciple:grippinghandsand()hands.

A

Griptype

BMagneticclass

C

GraspingtypeDAdsorptiontype第7題Vacuumclawsaremainlyvacuumsuctioncups,whichcanbedividedintothreetypesbasedontheprincipleofformingvacuum:vacuumsuctioncups,airflownegativepressuresuctioncups,and().

ASuctionnegativepressuresuctioncup

BInletnegativepressuresuctioncup

C

Pneumaticnegativepressuresuctioncup

D

Squeezingnegativepressuresuctioncup第8題()Coordinatesystem()isthelargestcoordinatesystemintherobotcoordinatesystem,usedforcoordinatedcontrolofmultiplerobots.

AJoint

BUniversal

CBase

Drightangle第9題ThetoolcoordinatesystemTisfixedattheendofthetool,withitscoordinateoriginatthetoolcenterpoint(),definedrelativetothewristcoordinatesystem,i.e.

A(T)=WTrB(T)=TrC(T)='TrD(T)=T。正確答案：CA第10題()isamethodofdescribingtheattitudeofashipsailingintheseaoranaircraftflyingintheair.()AEulerangleB

RRYangleC

RotationangleDRPY

第11題CharacteristicsofRobots.AHavingahumanlikenature

B

Havinguniversality

C

HavingintelligenceD

Havingindependence正確答案：ABC第12題Whenteachingwithintherangeofrobotmovements,thefollowingitemsneedtobefollowed:().

AKeeplookingatRobot

B

fromthefrontFollowtheoperatingstepsCConsiderthecontingencyplan

D

whentherobotsuddenlymovestowardsitsownpositionMakesuretosetupashelterjustincase正確答案：ABC第13題Therobotcontrolsystemisphysicallydividedintotwolevels,butlogicallygenerallydividedintothefollowingthreelevels:()

AAPIDController

B

DriverController

CJobControllerD

MotionController正確答案：ABC第14題Imageengineeringisanewinterdisciplinaryfieldthatsystematicallystudiesvariousimagetheories,techniques,andapplications.Theresearchcontentincludesthreelevelsandtheirengineeringapplications.()

AImageAnalysis

B

ImageProcessingC

ImageUnderstanding

D

imagerestoration正確答案：AB第15題Themachinevisionsystemmainlyconsistsofthreeparts().

AImageacquisition

B

Outputordisplay

C

ImageenhancementDImageprocessingandanalysis正確答案：AC第16題Intheservocontrollerofaservomotor,inordertoachievehigh-performancecontroleffects,therearegenerallythreefeedbackloops,namely().

A

Voltageloop

B

CurrentloopC

Positionring

DSpeedloop正確答案：ABC第17題Theintelligenceofthecentralizedsoccerrobotismainlymanifestedintwosubsystems.

ARobotsmallcarsystem

BRobotCommunicationSubsystem

CRobotcontrolsubsystem

D

RobotDecisionSubsystem

正確答案：DB第18題Theinterpolationmethodsupportedbyrobottrajectoryis().

AJointinterpolation

B

Linearinterpolation

CCircularinterpolation

D

Freecurveinterpolation正確答案：ABC第19題Ordinarysuctioncupsareusedtoattachsmoothandflatsurfacessuchasglass,tiles,steelplates,etc.第20題Ininversekinematics,robotshaveacertainworkingdomain.Ifthegivenhandpositionisoutsidetheworkingdomain,thesolutiondoesnotexist.第21題ThethreemajormatricesofrobotsrefertothehomogeneouscoordinatetransformationmatrixT,velocityJacobianmatrixJ,andforceJacobianmatrixJ.

第22題Intherobottransmissionsystem,frictionbetweengearsandbearingsisobjectivelypresentandcanoftenreachupto20%ofthejointdrivingtorque.第23題Therearemanycontrolmethodsforrobots,whichcanbebroadlydividedintotrajectorycontrolandspeedcontrol.Chapter7Homework第1題DuetothefactthatrobothandoperationsarecompletedinCartesianspace,Cartesianspaceisalsoknownas().

ASportsSpaceBHomeworkspaceCTaskSpaceD

Operatingspace第2題Undertheconditionofknownterminalpose,using()canobtainthemathematicalfunctionexpressionforeachjointvariable.

A

Numericalsolution

BClosedSolution

C

RecursiveAlgorithm

D

Discretesolutionmethod第3題Theprecisionofindustrialrobotsreferstothedegreeofproximitybetweentheendeffectoroftherobotandthedriver'sarrivalatthesametargetpositioninordertorepeatedlyreachit.()

AAbsolutepositioning

B

Repeatpositioning

C

Trajectoryaccuracy

D

drift第4題Therobot()revealsthemappingrelationshipbetweentheoperatingspaceandthejointspace.()AJacobianmatrix

BDVImatrixC

BHessianmatrixDSVSmatrix第5題Inthestudyofrobotdynamics,the()equationismainlyusedtoestablishthedynamicequationoftherobot.()AEulerBGauss

C

Cauchymedian

D

Lagrange第6題Thecontentrepresentedbyhomogeneouscoordinates[0010JT]is().

AXdirectionBzdirectionCYdirection

D

Inanydirection第7題The()methodistotransmitthepowerofthedrivertothejointafterpassingthroughthereducerorwirerope,conveyorbelt,parallelconnectingrodandotherdevices.

A

Electricaltransmission

B

GeartransmissionCDirectlydriving

DIndirectdrive第8題Theadvantageof()isthatitcansetmultipleactuatorsnecessaryforjointdrivingofmultidegreeoffreedomrobotsinappropriatepositions.

ALongdistancedrive

B

Closerangedrive

C

Direct

Ddrive第9題Theoutputforceandpowerof()areverylarge,whichcanformaservomechanismandiscommonlyusedfordrivingthejointsoflargerobots.

AElectricdriveBPneumaticdrive

C

PneumaticDriveDHydraulicDrive第10題Robotsareanimportantcomponentofrobots,usedtocontrolthemanipulatortocompletespecificworktasks.()AControlsystem

BDrivesystem

COperatingSystem

DSystem第11題Howmanycontrolmethodsarethereforindustrialrobots?()APointPositionControl(PTP)BContinuousTrajectoryControl(CP)CForce(Torque)Control

D

Intelligentcontrolmode正確答案：ABC第12題Thepowersystemofindustrialrobotscanbedividedintothreecategoriesaccordingtodifferentpowersources.()AHydraulicpowersystemBElectromagneticpowersystem

CPneumaticpowersystem

DElectricpowersystem第13題Asanirreplaceablecoreautomationequipmentandmeansinadvancedmanufacturing,industrialrobotshavebecomeanimportantindicatorformeasuringacountry.()AManufacturinglevel

B

DevelopmentlevelC

Technological

Dlevel第14題Theso-calleddemonstrationreferstotheoperatorinstructingtherobot,etc.()ATrajectoryBRunningspeed

C

StayingpointDStayingtime正確答案：AC第15題Theelementsofthinkingincludeintellectualactivitiessuchas().

A