Code: R7411306

R07
ROBOTICS AND AUTOMATION
(Electronics & Control Engineering)

B.TECH IV Year I Semester (R07) Supplementary Examinations, November 2012

Time: 3 hours Answer any FIVE questions All questions carry equal marks **** 1

Max Marks: 80

Explain about Cartesian coordinate, cylindrical coordinate and spherical coordinate systems with neat sketches. Explain the following sensors with the help of neat sketches: (a) Tactile sensors (b) Magnetic sensors Explain the variable structure systems for the control of manipulators. (a) Discuss about Hydraulic actuators. (b) List the advantages and disadvantages of Hydraulic and Pneumatic acturators. (a) Discuss about pure translation and pure rotation. (b) Find the transformation matrices for the following operations on the point P=[3 4 7] (i) Rotate 45 degrees about x-axis and then translate 8 units along y-axis. (ii) Translate 5 units along y-axis and rotate 30 degrees about x-axis. How does forward kinematics differ from inverse kinematics? Discuss Euler angle representation for orientation. (a) Discuss about Fifth order polynomial trajectory planning. (b) A single cubic trajectory is given by () = 10 + 6 2 4 3 , and is used over a time interval from t=0 to t=2 seconds. What are the starting and final positions, velocities and accelerations? (a) Discuss about robot applications in manufacturing industries. (b) With the help of simple sketch, explain robot centered work cell.

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