Robotics 1
Analog Sensors
Quiz              Question 2: Suppose that I have a potentiometer with a total resistance (between the A and B pins) of 10k ohms.  And, suppose that I am supplying 5V to the A pin.  When there is 2k ohms of resistance between the A pin and the wiper, what voltage will there be at the wiper?  Round to two decimal places.
Question 3:  If we are going to store an analog value in a 16-bit number, what is the largest number we could represent with those 16 bits?  Your answer should be an integer.
Question 4:  Suppose I have a 16-bit value of 1101011100011010, what digital value does this represent?  Your answer should be an integer.
Question 5:  Suppose that I have an analog to digital converter where the input can range from 0V to 5V, and suppose I am reading the analog value into an 8-bit number.  When the 8-bit number we read is 11010110, what is the voltage at the input?  Round to 3 decimal places.
Question 6:  Suppose that for question 5, the analog value at the input is 2.3V.  What is the 8-bit byte that will be read?  Your answer should be a string of bits, containing only 0's and 1's.
Question 7:  If our input range is 0-8V and we are reading the input value into a 10-bit value, what is the quantization value, Q?  Round to four decimal places.
Question 8:  For question 7, now suppose we are storing the value as a 12-bit values.  Now what is the quantization value, Q?  Round to five decimal places.
Question 9:  For question 7, what is the angle resolution if we are reading a potentiometer that can make one complete revolution?  Round to three decimal places.
Question 10: For question 8, what is the angle resolution if we are reading a potentiometer that can make one complete revolution?  Round to four decimal places.
Question 1: In a potentiometer, which pin do we use to read the rotational angle?
The A pin
The wiper
The B pin
The ground pin
Question 11: When we define a path of the end-effector to take between two end-points, what kind of equation is most useful?
An inverse equation
A parabolic equation
A parametric equation
Question 13:  When we write an equation to calculate the joint velocities given the end-effector velocities, what do we have to do with the Jacobian matrix? Question 12:  In a path equation, what do we want the 'parameter' to represent?
Velocity
Distance
Acceleration
Time
Take the inverse
Take the derivative
Question 14:  If I have a manipulator with 3 joints, how many of the components of the end-effector velocity can I control simultaneously?
All 6
At least 3
Only 3
Fewer than 3
Take the transpose
Take the integral
Question 15:  Once I have defined the path I want the end-effector to follow, how do I find the end-effector velocity (the trajectory)?
Take the derivative
Take the integral
Take the inverse
Take the transpose