东大19春学期《机器人技术》在线作业1【标准答案】

秋学期《机器人技术》在线作业1试卷总分: 100 测试时间: --、单选题（共6 道试题, 共30 分。

）1. CCD摄像头采取电视PAL标准, 每帧图像由___场组成。

A. 1B. 2C. 3D. 4满分: 5 分2. 机器人终端效应器（手）力量来自哪里？A. 机器人全部关节B. 机器人手部关节C. 决定机器人手部位置各关节D. 决定机器人手部位姿各个关节满分: 5 分3. 定时插补时间间隔下限关键决定原因是: __A. 完成一次正向运动学计算时间B. 完成一次逆向运动学计算时间C. 完成一次正向动力学计算时间D. 完成一次逆向动力学计算时间满分: 5 分4. 机器人精度关键依存于机械误差、控制算法误差与分辨率系统误差。

通常说来__A. 绝对定位精度高于反复定位精度B. 反复定位精度高于绝对定位精度C. 机械精度高于控制精度D. 控制精度高于分辨率精度满分: 5 分5. 所谓无姿态插补, 即保持第一个示教点时姿态, 在大多数情况下是机器人沿_______运动时出现。

A. 平面圆弧B. 直线C. 平面曲线D. 空间曲线满分: 5 分6. 操作机手持粉笔在黑板上写字, 在哪个方向只有力约束而无速度约束？A. X轴B. Y轴C. Z轴D. R轴满分: 5 分、多选题（共2 道试题, 共10 分。

）1. 集控式足球机器人智能关键表现在哪两个子系统？A. 机器人小车子系统B. 机器人通信子系统C. 机器人视觉子系统D. 机器人决议子系统E. 机器人总控子系统满分: 5 分2. 谐波减速器尤其适适用于工业机器人哪多个轴传动？A. S轴B. L轴C. U轴D. R轴E. B轴F. T轴满分: 5 分、判定题（共10 道试题, 共60 分。

）1. 机器人自由度数目就是机器人所含有独立坐标轴运动数目。

A. 错误B. 正确满分: 6 分2. 假如是相对于基坐标系B运动, 其对应齐次变换矩阵左乘原齐次变换矩阵。

A. 错误B. 正确满分: 6 分3. 机械手亦可称之为机器人。

(判断题)1: 物理中线是电枢表面磁场的分界线。

（   ）A: 错误B: 正确正确答案:(判断题)2: 变压器基本铁耗是铁心中的磁滞损耗。

（  ）A: 错误B: 正确正确答案:(判断题)3:   电机处于电动状态时，电磁转矩与转向相同。

（）A: 错误B: 正确正确答案:(判断题)4: 直流电动机主磁极在气隙中建立的磁场称为主磁场。

（  ）A: 错误B: 正确正确答案:(判断题)5:   变压器所带容性负载增加，副边电压可能升高也可能下降。

（  ）A: 错误B: 正确正确答案:(判断题)6:   电动机能耗制动比反接制动更消耗电能。

（）A: 错误B: 正确正确答案:(判断题)7: 绕线式异步电动机转子回路串电阻越大，起动转矩越大，最大转矩也越大。

（）A: 错误B: 正确正确答案:(判断题)8:   一相交流绕组通入正弦交流电产生旋转磁场。

（）A: 错误B: 正确正确答案:(判断题)9:   交流绕组短距系数是不大于1的数值。

（）A: 错误B: 正确正确答案:(判断题)10:   电动机运行时间与工作周期之比成为负载持续率（     ）A: 错误B: 正确正确答案:(判断题)11:   定子旋转磁场与转子同步。

（）A: 错误B: 正确正确答案:(判断题)12: 电机处于电动状态时，电磁转矩与转向相同。

（   ）A: 错误B: 正确正确答案:(判断题)13:   起重机提升或下放同一重物时，传动机构损耗一样，但系统效率不一样。

（）A: 错误B: 正确正确答案:(判断题)14:   异步电动机处于正向回馈状态时，转差率s<0。

(单选题)1: 一阶RL电路的零状态响应是指(         )的响应。

A: iL(0)=0B: iR(0)=0C: 其它正确答案:(单选题)2:  20毫亨电感的电流i=l4.l4Sin(l000t) A，如果电流i和电压u为关联方向。

则该电感的电压u的初相位为(      )度A: 90B:  -90C: 其它正确答案:(单选题)3: 一阶电路的全响应等于(         )。

A: uc(0)不为零或iL(0)不为零B: 零输入响应+零状态响应 C: 其它正确答案:(单选题)4: 5千欧姆电阻两端的电压U为20V，当U与I为非关联方向时，电流I为(      )A:  -1AB:  4AC: 其它正确答案:(单选题)5: 一个电压源20V和一个电流源2A并联，其等效电路为(        )。

A: 电压源20VB: 电流源2AC: 其它正确答案:(单选题)6: Z=50+j50欧姆，表明该电路为(      ) 电路A: 感性B: 容性C: 其它正确答案:(单选题)7: 两个10欧姆电阻串联，其等效电阻R为(         )。

(µ¥Ñ¡Ìâ)1: If you want to learn English well, don’t forget intensive reading and _____ reading.A: extendedB: extensiveC: wideD: externalÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)2: He       excited at the good newsA: lookB: appearsC: disappearD: feelÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)3:When I got to his home, he ____ ____ for an hour.A: had leftB: leftC: had been awayD: has been awayÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)4: He left the spot immediately, afraid of being ____ in the car accident.A: connectedB: takenC: seatedD: involvedÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)5: Will there be a strong wind ____ the north ______ the Huanghe River ?A:  to... ofB: to... offC: at... ofD: on… offÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)6: Scientific discoveries are often applied_____ industrial production methods.A: for B: with C: to D: onÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)7: I asked the bank for a _____.A: loafB: loadC: loanD: loamÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)8: The teacher required that all the assignments _____finished before this weekend.A: would beB: wereC: beD: are toÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)9:Everyone except Tom and John ______  there when the meeting began.A: isB: wasC: areD: wereÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)10: A good habit can make our mental health in      with physical health.A: concernB: connectionC: compareD: tuneÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)11:  May she _______ with you?A: comeB: comesC: comingD: cameÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)12: Which is the best approach _____ the tunnel?A: toB: withC: besidesD: towardsÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)13:He could_____ neither French or German,&n bsp;so I____ with him in English.A: speak, talkedB: talk, toldC: say, spokeD: tell, talkedÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)14:Don’t spend _______ time on compute r games.A: too muchB: much tooC: too manyD: many tooÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)15: Many girls like __________ skirts in summer.A: wearingB: dressingC: inD: putting onÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)16:Look! Lily with her sister _________&nbsp ;a kite on the playground.A: is flyingB: are flyingC: flyingD: flyÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)17: My home is about ________ from my school.A: 15 minutesB: minute's rideC: 20 minutes by bikeD: 15- minute's on foot.ÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)18:The policeman stopped ________, but he&nb sp;_______ no sound.A: hearing,heardB: listening,listenedC: to listen,heardD: listening to,listened toÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)19:  He walked ________ fast for us ________catch up with. A: so, thatB: such, thatC: enough, toD: too,toÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)20:  He failed the exam because he didn’t have      time(×ã¹»µÄʱ¼ä) to prepare.A: rightB: spareC: adequateD: ownÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)21: The evidence found in this search is always incomplete and _____, it is also frequently partial.A: scatter  B: scattered C: scattering D:  scattered toÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)22: The museum has some new _____from India.A: exhibit B: exhibition C: exhibits D: exhibitionsÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)23: The organization performed an important _____ in protectingthe rights of children.A: functionB: fictionC: fractionD: frictionÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)24: ---He can swim. ---_______ .A: So I canB: So can IC: I so canD: Can I soÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)25:  He ________ living in the country to the city. A: likesB: prefersC: enjoysD: lovesÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)26: What kind of music is your_____?A: favorableB: favoriteC: favorD: fateÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)27: --Must we finish our homework now?--No, you ______. You _______ finish it after school.A: needn't , mayB: mustn't , mayC: can't , canD:  needn't , mustÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)28: -- You seem to like sweets. --________ . I buy sweets every week.¡¡¡¡ A: So do IB: So I doC: So am ID: So I amÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)29: It is not _____to quarrel with your boss.A: worthyB: worthC: valueD: valuableÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)30: --Would you give me some water?  --____________.A: Yes, I wouldB: CertainlyC: No, thanksD: Yes,pleaseÕýÈ·´ð°¸:(ÔĶÁÀí½â)31:     He was struggling to tie his shoes.I was struggling with whether I should help him.    I did, and he was grateful.“Thank you,” he said.“I’m glad I could help. I just thought it would be easier for me to reach,” I said.    He was a disabled man, and forced to look down most of the time. His arms and legs were twisted terribly, and he couldn’t do what the rest of us would consider easy tasks. He always managed to look up to see how you reacted to his words, however. He had a big smile, making me feel comfortable.     I was still on my knees by his wheelchair.“ Nice shoes,” he said.“Thanks. No one ever complimented me on them before,” I said.“No one has the same view of the world as I do,” he replied.“Tell me about the world as you see it,” I said smiling.“Most people can see if someone is comfortable with them or not in their eyes. I see it in their feet.” he said. “If people keep moving their feet, I just let them go, because I know they’re impatient with me. I don’t want to make people uncomfortable.“What about me? I asked.“I could see your compassion. And then you came down to my level. I was the one who was nervous.” he said. “I don’t normally have someone look me in the eye.”“They don’t know what they’re missing,” I told him.“My old face is nothing to brag about.” he said.“But that smile is so big.”    Yes, and it’s not only a big smile but an attitude.ÕýÈ·´ð°¸:(ÔĶÁÀí½â)32:     My summer hols wr CWOT. B4. we usd 2 go 2 NY 2C my bro, his GF £¦ thr 3 : -@ kids FTF. ILNY, its gr8.    Can you understand this sentence? If you can’t, don't feel too bad: neither could the middle school teacher in England who received this as homework. This is Netspeak: the language of computerized communication found on Internet or cellphones. To newcomers, it ran like a completely foreign language. So, what is the "translation" of the sentence above? My summer holidays were a complete waste of time. Before, we used to go to New York to see my brother, his girlfriend, and their three screaming kids face to face.I love New York; it’s great.    Schoolteachers and parents say this new form of writing is harming the English language. Increasing spelling and grammatical mistakes can be seen in students' writing. They fear the language could become corrupted (ÃæÄ¿È«·ÇµÄ).    Everyone should just relax, say linguists (ÓïÑÔѧ¼Ò). They believe Netspeak is in fact more of a good thing. David Crystal, from the University of Wales, argues that Netspeak and Internet create a new language use and the almost lost art of diary writing has been picked up again. Geoffrey Nunberg, from Stanford University, agrees. "People get better at writing by writing," he says, “Kids who are now doing text messaging, e-mail, and instant messages will write at least as well as, and possibly better than their parents."    Linguist James Milroy says, for centuries, it is believed without exception that young people are harming the language. And you can bet your bottom dollar that when today's teenagers become tomorrow's parents, they too will think this way, Milroy argues that languages do not and cannot become "corrupted"; they simply change to meet the new needs.    However, Netspeakers do agree that it is important to teach young people how to speak and write Standard English. Cynthia McVey says, "I can understand Netspeak worries teachers and it's important that they get across to their pupils that text messaging is for fun, but that learning to write proper English is a must for their future.”    Perhaps we should give teenagers a little more trust anyway. Erin, age 12, says, "I wouldn't use text language in my homework. Texting is just for fun."ÕýÈ·´ð°¸:(ÔĶÁÀí½â)33:     What might the future be like? Here are some predictions: things to come, things to go.     The Spring Festival, the most important Chinese holiday when everyone returns home, has caused headaches for millions of Chinese. More than 2 billion people travel at the same time, making getting travel ticketsand the journey difficult. But in 28 years, Spring Festival travel may not be a problem at all. China plans to build more than 120,000 kilometers of railway and a fast transportation network that will serve 90% of the population by 2020. And because most of China will be cities, people will not have to go to other places to find a job, so it will no longer be a problem.    Newspaper will come to an end in 2043. In the future, digital newspapers will be sent to personal web tools through Internet. Readers can discuss topics with journalists and editors. Information will move faster.     Oil is running out faster than expected. But scientists have found something else for oil as fuel. Coal, natural gas, solar power, nuclear power and even water can take the place of oil as sources of energy.     Schools will go electronic. Computers will be important and popular among the students. Everything will be in the computer and students will not need to bring books to school. They will find information on the Internet. A computer will be the students’ library, schoolbag and connection to the outside world. There will be robot teachers, they will check homework on computers and communicate with the students’ parents through e-mail. And school buses will be like spaceships, comfortable and safe.ÕýÈ·´ð°¸:(ÔĶÁÀí½â)34:     More and more people like bicycling and it is no surprise. It is fun, healthy and good for the environment. Maybe that’s why there are 1.4 billion bicycles and only 400 million cars on roads worldwide today. Bikes can take you almost anywhere, and there is no oil cost!    Get on a bicycle and ride around your neighborhood. You may discover something new all around you. Stopping and getting off a bike is easier than stopping and getting out of your car. You can bike to work and benefit (ÊÜÒæ) from the enjoyable exercise without polluting the environment. You don’t even have to ride all the way.    Folding (ÕÛµþ) bikes work well for people who ride the train. Just fold the bike and take it with you. You can do the same on an airplane. A folding bike can be packed in a suitcase. You can also take a common bike with you when you fly. But be sure to look for information by getting on airline websites. Not all airlines are bicycle-friendly to travelers.Health Benefits of Bicycling:? It helps to prevent heart diseases.? Bicycling helps to control your weight.     A 15-minute bike ride to and from work three times a week burns off five kilos of fat in a year.? Bicycling can improve your mood.      Exercise like bicycling has been shown to make people feel better, more relaxed andself-confident.? Bicycling is healthier than driving.ÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)1: If you want to learn English well, don’t forget intensive reading and _____ reading.A: extendedB: extensiveC: wideD: externalÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)2: He       excited at the good newsA: lookB: appearsC: disappearD: feelÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)3:When I got to his home, he ____ ____ for an hour.A: had leftB: leftC: had been awayD: has been awayÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)4: He left the spot immediately, afraid of being ____ in the car accident.A: connectedB: takenC: seatedD: involvedÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)5: Will there be a strong wind ____ the north ______ the Huanghe River ?A:  to... ofB: to... offC: at... ofD: on… offÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)6: Scientific discoveries are often applied_____ industrial production methods.A: for B: with C: to D: onÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)7: I asked the bank for a _____.A: loafB: loadC: loanD: loamÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)8: The teacher required that all the assignments _____finished before this weekend.A: would beB: wereC: beD: are toÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)9:Everyone except Tom and John ______  there when the meeting began.A: isB: wasC: areD: wereÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)10: A good habit can make our mental health in      with physical health.A: concernB: connectionC: compareD: tuneÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)11:  May she _______ with you?A: comeB: comesC: comingD: cameÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)12: Which is the best approach _____ the tunnel?A: toB: withC: besidesD: towardsÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)13:He could_____ neither French or German,&n bsp;so I____ with him in English.A: speak, talkedB: talk, toldC: say, spokeD: tell, talkedÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)14:Don’t spend _______ time on compute r games.A: too muchB: much tooC: too manyD: many tooÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)15: Many girls like __________ skirts in summer.A: wearingB: dressingC: inD: putting onÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)16:Look! Lily with her sister _________&nbsp ;a kite on the playground.A: is flyingB: are flyingC: flyingD: flyÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)17: My home is about ________ from my school.A: 15 minutesB: minute's rideC: 20 minutes by bikeD: 15- minute's on foot.ÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)18:The policeman stopped ________, but he&nb sp;_______ no sound.A: hearing,heardB: listening,listenedC: to listen,heardD: listening to,listened toÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)19:  He walked ________ fast for us ________catch up with. A: so, thatB: such, thatC: enough, toD: too,toÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)20:  He failed the exam because he didn’t have      time(×ã¹»µÄʱ¼ä) to prepare.A: rightB: spareC: adequateD: ownÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)21: The evidence found in this search is always incomplete and _____, it is also frequently partial.A: scatter  B: scattered C: scattering D:  scattered toÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)22: The museum has some new _____from India.A: exhibit B: exhibition C: exhibits D: exhibitionsÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)23: The organization performed an important _____ in protecting the rights of children.A: functionB: fictionC: fractionD: frictionÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)24: ---He can swim. ---_______ .A: So I canB: So can IC: I so canD: Can I soÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)25:  He ________ living in the country to the city. A: likesB: prefersC: enjoysD: lovesÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)26: What kind of music is your_____?A: favorableB: favoriteC: favorD: fateÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)27: --Must we finish our homework now?--No, you ______. You _______ finish it after school.A: needn't , mayB: mustn't , mayC: can't , canD:  needn't , mustÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)28: -- You seem to like sweets. --________ . I buy sweets every week.¡¡¡¡ A: So do IB: So I doC: So am ID: So I amÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)29: It is not _____to quarrel with your boss.A: worthyB: worthC: valueD: valuableÕýÈ·´ð°¸:(µ¥Ñ¡Ìâ)30: --Would you give me some water?  --____________.A: Yes, I wouldB: CertainlyC: No, thanksD: Yes,pleaseÕýÈ·´ð°¸:(ÔĶÁÀí½â)31:     He was struggling to tie his shoes.I was struggling with whether I should help him.    I did, and he was grateful.“Thank you,” he said.“I’m glad I could help. I just thought it would be easier for me to reach,” I said.    He was a disabled man, and forced to look down most of the time. His arms and legs were twisted terribly, and he couldn’t do what the rest of us would consider easy tasks. He always managed to look up to see how you reacted to his words, however. He had a big smile, making me feel comfortable.     I was still on my knees by his wheelchair.“ Nice shoes,” he said.“Thanks. No one ever complimented me on them before,” I said.“No one has the same view of the world as I do,” he replied.“Tell me about the world as you see it,” I said smiling.“Most people can see if someone is comfortable with them or not in their eyes. I see it in their feet.” he said. “If people keep moving their feet, I just let them go, because I know they’re impatient with me. I don’t want to make people uncomfortable.“What about me? I asked.“I could see your compassion. And then you came down to my level. I was the one who was nervous.” he said. “I don’t normally have someone look me in the eye.”“They don’t know what they’re missing,” I told him.“My old face is nothing to brag about.” he said.“But that smile is so big.”    Yes, and it’s not only a big smile but an attitude.ÕýÈ·´ð°¸:(ÔĶÁÀí½â)32:     My summer hols wr CWOT. B4. we usd 2 go 2 NY 2C my bro, his GF £¦ thr 3 : -@ kids FTF. ILNY, its gr8.    Can you understand this sentence? If you can’t, don't feel too bad: neither could the middle school teacher in England who received this as homework. This is Netspeak: the language of computerized communication found on Internet or cellphones. To newcomers, it ran like a completely foreign language. So, what is the "translation" of the sentence above? My summer holidays were a complete waste of time. Before, we used to go to New York to see my brother, his girlfriend, and their three screaming kids face to face.I love New York; it’s great.    Schoolteachers and parents say this new form of writing is harming the English language. Increasing spelling and grammatical mistakes can be seen in students' writing. They fear the language could become corrupted (ÃæÄ¿È«·ÇµÄ).    Everyone should just relax, say linguists (ÓïÑÔѧ¼Ò). They believe Netspeak is in fact more of a good thing. David Crystal, from the University of Wales, argues that Netspeak and Internet create a new language use and the almost lost art of diary writing has been picked up again. Geoffrey Nunberg, from Stanford University, agrees. "People get better at writing by writing," he says, “Kids who are now doing text messaging, e-mail, and instant messages will write at least as well as, and possibly better than their parents."    Linguist James Milroy says, for centuries, it is believed without exception that young people are harming the language. And you can bet your bottom dollar that when today's teenagers become tomorrow's parents, they too will think this way, Milroy argues that languages do not and cannot become "corrupted"; they simply change to meet the new needs.    However, Netspeakers do agree that it is important to teach young people how to speak and write Standard English. Cynthia McVey says, "I can understand Netspeak worries teachers and it's important that they get across to their pupils that text messaging is for fun, but that learning to write proper English is a must for their future.”    Perhaps we should give teenagers a little more trust anyway. Erin, age 12, says, "I wouldn't use text language in my homework. Texting is just for fun."ÕýÈ·´ð°¸:(ÔĶÁÀí½â)33:     What might the future be like? Here are some predictions: things to come, things to go.    。

[东北大学]21春学期《机器人技术》在线平时作业2 注：本试卷为东北大学2021年课程学习材料，仅作参考学习使用！！！
一、单选题 (共 6 道试题,共 30 分)
1.运动正问题是实现如下变换：__
A.从关节空间到操作空间的变换
B.从操作空间到迪卡尔空间的变换
C.从迪卡尔空间到关节空间的变换
D.从操作空间到关节空间的变换
[仔细阅读上述题目，并从中选择你认为正确的选项进行作答]
正确选择:A
2.运动逆问题是实现如下变换：__
A.从关节空间到操作空间的变换
B.从操作空间到迪卡尔空间的变换
C.从迪卡尔空间到关节空间的变换
D.从操作空间到任务空间的变换
[仔细阅读上述题目，并从中选择你认为正确的选项进行作答]
正确选择:C
3.动力学的研究内容是将机器人的______________联系起来。

A.运动与控制
B.传感器与控制
C.结构与运动
D.传感系统与运动
[仔细阅读上述题目，并从中选择你认为正确的选项进行作答]
正确选择:A
4.机器人轨迹控制过程需要通过求解__________获得各个关节角的位置控制系统的设定值。

A.运动学正问题
B.运动学逆问题
C.动力学正问题
D.动力学逆问题
[仔细阅读上述题目，并从中选择你认为正确的选项进行作答]
正确选择:B
5.利用物质本身的某种客观性质制作的传感器称之为__
A.物性型
B.结构型
C.一次仪表
D.二次仪表
[仔细阅读上述题目，并从中选择你认为正确的选项进行作答]
正确选择:A。

【奥鹏】-[东北大学]20秋学期《机器人技术》在线平时作业3
注：每学期试题都会有所不同，请认真做好复习！
一、单选题 (共 6 道试题,共 30 分)
1.GPS全球定位系统，只有同时接收到____颗卫星发射的信号，才可以解算出接收器的位置。

[A选项]-2
[B选项]-3
[C选项]-4
[D选项]-6
解析：试题难度4颗星
【参考选择】：C
2.哪个国家曾经赢得了“机器人王国”的美称？
[A选项]-美国
[B选项]-英国
[C选项]-日本
[D选项]-中国
解析：试题难度4颗星
【参考选择】：C
3.在q--r操作机动力学方程中，其主要作用的是
[A选项]-哥氏项和重力项
[B选项]-重力项和向心项
[C选项]-惯性项和哥氏项
[D选项]-惯性项和重力项
解析：试题难度4颗星
【参考选择】：D
4.压电式传感器，即应用半导体压电效应可以测量__
[A选项]-电压
[B选项]-亮度
[C选项]-力和力矩
[D选项]-距离
解析：试题难度4颗星
【参考选择】：C
5.操作机手持粉笔在黑板上写字，在哪个方向只有力的约束而无速度约束？
[A选项]-X轴
[B选项]-Y轴
[C选项]-Z轴
[D选项]-R轴
解析：试题难度4颗星
【参考选择】：C
6.利用物质本身的某种客观性质制作的传感器称之为__。

东大15秋学期《机器人技术》在线作业1 满分答案一、单选题（共 6 道试题，共30 分。

）1. 6 维力与力矩传感器主要用于__A. 精密加工B. 精密测量C. 精密计算D. 精密装配----------------选择：D2. 机器人的精度主要依存于机械误差、控制算法误差与分辨率系统误差。

一般说来__电工技术电工学1答案A. 绝对定位精度高于重复定位精度B. 重复定位精度高于绝对定位精度C. 机械精度高于控制精度D. 控制精度高于分辨率精度----------------选择：B3. 利用物质本身的某种客观性质制作的传感器称之为__A. 物性型B. 结构型C. 一次仪表D. 二次仪表----------------选择：A4. 所谓无姿态插补，即保持第一个示教点时的姿态，在大多数情况下是机器人沿_______运动时出现。

A. 平面圆弧B. 直线C. 平面曲线D. 空间曲线----------------选择：B5. 传感器的基本转换电路是将敏感元件产生的易测量小信号进行变换，使传感器的信号输出符合具体工业系统的要求。

一般为：A. 4～20mA、–5～5VB. 0～20mA、0～5VC.20mA～20mA、–5～5VD.20mA～20mA、0～5V----------------选择：A6. 为了获得非常平稳的加工过程，希望作业启动（位置为零）时：A. 速度为零，加速度为零B. 速度为零，加速度恒定C. 速度恒定，加速度为零D. 速度恒定，加速度恒定。

(单选题) 1: 对于有规律的轨迹，仅示教几个特征点，计算机就能利用________获得中间点的坐标。

A: 优化算法B: 平滑算法C: 预测算法D: 插补算法正确答案:(单选题) 2: 增量式光轴编码器一般应用___套光电元件，从而可以实现计数、测速、鉴向和定位。

A: 一B: 二C: 三D: 四正确答案:(单选题) 3: 示教-再现控制为一种在线编程方式，它的最大问题是：A: 操作人员劳动强度大B: 占用生产时间C: 操作人员安全问题D: 容易产生废品正确答案:(单选题) 4: 传感器在整个测量范围内所能辨别的被测量的最小变化量，或者所能辨别的不同被测量的个数，被称之为传感器的_________。

A: 精度B: 重复性C: 分辨率D: 灵敏度正确答案:(单选题) 5: 机器人的精度主要依存于机械误差、控制算法误差与分辨率系统误差。

一般说来__A: 绝对定位精度高于重复定位精度B: 重复定位精度高于绝对定位精度C: 机械精度高于控制精度D: 控制精度高于分辨率精度正确答案:(单选题) 6: 如果末端装置、工具或周围环境的刚性很高，那么机械手要执行与某个表面有接触的操作作业将会变得相当困难。

此时应该考虑：A: 柔顺控制B: PID控制C: 模糊控制D: 最优控制正确答案:(多选题) 1: 完整的传感器应包括下面哪三部分？A: 敏感元件B: 计算机芯片C: 转换元件D: 模数转换电路E: 基本转换电路F: 微波通信电路正确答案:(多选题) 2: 美国发往火星的机器人是______号。

A: 勇气B: 机遇C: 小猎兔犬D: 挑战者E: 哥伦比亚正确答案: ,(判断题) 1: 结构型传感器的结构比起物性型传感器的结构相对简单。

A: 错误B: 正确正确答案:(判断题) 2: 手臂解有解的必要条件是串联关节链中的自由度数等于或小于6。

A: 错误B: 正确正确答案:(判断题) 3: 工业机器人工作站是由一台或两台机器人所构成的生产体系。

(单选题)1: 一曲柄摇杆机构，若改为以曲柄为机架，则将演化为（    ）。

A: 曲柄摇杆机构B:  双曲柄机构C: 双摇杆机构D: 导杆机构正确答案:(单选题)2: 与齿轮传动相比，（    ）不能作为蜗杆传动的优点。

A: 传动平稳，噪声小B: 传动比可以较大C: 可产生自锁D: 传动效率高正确答案:(单选题)3: 凸轮机构的从动件选用等加速等减速运动规律时，其从动件的运动（    ）。

A: 将产生刚性冲击B: 将产生柔性冲击C: 没有冲击D: 既有刚性冲击又有柔性冲击正确答案:(单选题)4: 普通V带传动是依靠（    ）来传递运动和动力的。

A: 带与带轮接触面之间的正压力B: 带与带轮接触面之间的摩擦力C: 带的紧边拉力 D: 带的松边拉力正确答案:(单选题)5: （    ）轮系不能用转化轮系传动比公式求解。

A: 定轴B: 混合C: 行星D: 差动正确答案:(单选题)6: 角接触球轴承承受轴向载荷的能力随着接触角的增大而（    ）。

A: 增大B: 减少C: 不变D: 增大或减少随轴承型号而定正确答案:(单选题)7: 一减速齿轮传动，小齿轮1选用45号钢调质；大齿轮选用45号钢正火，它们的齿面接触应力（    ）。

A: 小齿轮大于大齿轮B: 小齿轮小于大齿轮C: 小齿轮等于大齿轮D: 小齿轮小于等于大齿轮正确答案:(单选题)8: 一对标准直齿圆柱齿轮，若 Z1=18，Z2=72，则这对齿轮的弯曲应力（    ）。

(单选题)1:   三相桥式全控整流电路，全部自然换相点是（    ）A: 三相电源线电压的过零点B: 三相电源相电压正半周波形的交点C: 三相电源相电压负半周波形的交点D: 三相电源线电压正半周波形的交点正确答案:(单选题)2:   不可控整流电路中的二极管在（                      ）换流。

A: 通电时B:   断电时C: 触发时D: 电压过零时正确答案:(单选题)3:   三相半波可控整流电路，晶闸管的电流平均值是（       ）。

A: AB: BC: CD: D正确答案:(单选题)4:   单相全波可控整流电路一共有（    ）只晶闸管。

A: 1B: 2C: 3D: 4正确答案:(单选题)5:   三相桥式全控整流电路一共有（    ）只晶闸管。

A: 2B: 3C: 4D: 6正确答案:(单选题)6:   单结晶体管三个电极分别为(             & nbsp;            &nb sp; )。

(单选题)1: 一阶RC串联电路中，R为100欧姆，电容初始电压为0V，换路后外加电压为10V，则电容的初始电流为(        )A。

A: 0B: 0.1C: 其它正确答案:(单选题)2: 1000微法电容的电压u=l4.l4Sin(l000t) V，如果电流i和电压u为关联方向。

则电容的电流i的的初相位为(      )度A: -90B: 90C: 其它正确答案:(单选题)3: 如果25欧姆电阻的电流i=l4.l4Sin(l000t)安培，电流i和电压u为关联方向。

则电阻电压的初相位为(      )度A:  0B: 90C: 其它正确答案:(单选题)4: 叠加定理适用于(        )电路。

A: 线性电路B: 非线性电路C: 其它正确答案:(单选题)5: 5千欧姆电阻两端的电压U为20V，当U与I为非关联方向时，电流I为(      )A:  -1AB:  4AC: 其它正确答案:(单选题)6: 两个阻抗分别为4+j3欧姆和3+j4欧姆串联，其等效复阻抗为(         ) 欧姆。

[free]吉大19春学期《工程机器人》在线作业二
试卷总分:100 得分:100
一、单选题（共10题，40分）
1、动力半径就是（）作用线到驱动轮轴线的距离。

A切线牵引力
B轴线牵引力
C法线牵引力
D以上均不对
【试题分析部分】
------本题正确选项：A
2、履带车辆采用的转向方式（）。

A偏向车轮转向
B铰接车架转向
C滑移转向
D漂移转向
【试题分析部分】
------本题正确选项：C
3、轮式地盘在车架与车桥的连接方式上要确保车架处于（）点着地。

A2
B3
C4
D5
【试题分析部分】
------本题正确选项：B
4、在车辆实际工作中，牵引力没有超过履带与地面的附着力，履带与地方（）滑转。

A不存在
B存在
C有少量
D有大量
【试题分析部分】
------本题正确选项：C
5、履带行走机构中的各摩擦副中的摩擦力可近似地看做与摩擦副所承受的法向压力成（）。

A正比
B反比
C无关
D以上均不对
【试题分析部分】
------本题正确选项：A
——————————。

19秋西交《工业机器人》在线作业
试卷总分:100 得分:100
1.工业机器人系统中的执行机构类似于人的哪种结构()
[A、]肢体
[B、]感官和神经
[C、]大脑和小脑
[D、]肌肉、经络
参考选择是:A
2.下面哪项是机器人最常用的外部传感器()
[A、]距离传感器
[B、]视觉传感器
[C、]力觉传感器
[D、]超声波传感器
参考选择是:B
3.下面哪项是机器人直线驱动机构()
[A、]液压（气压）缸
[B、]齿轮链
[C、]同步带传动装置
[D、]谐波齿轮
参考选择是:A
4.有一谐波齿轮传动,刚轮齿数200,柔轮齿数195,柔轮固定,刚轮输出,该谐波齿轮的传动比为多少()
[A、]30
[B、]50
[C、]75
[D、]100
参考选择是:B
5.机器人的内部传感器不包括下面哪个()
[A、]位置传感器
[B、]速度传感器
[C、]视觉传感器
[D、]加速度传感器
参考选择是:C
6.机器人的轨迹泛指工业机器人在运动中的()
[A、]位置
[B、]速度
[C、]位移
[D、]运动轨迹。