Code No: 64255/MT

NR
M.Tech. – II Semester Regular Examinations, September, 2008

ROBOTICS & MACHINE VISION

(Image Processing)

Time: 3hours Max. Marks:60

Answer any FIVE questions

All questions carry equal marks
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1.a) Distinguish between robot arm kinematics and dynamics.

b) Classify robots according to their arm movements. List out the
applications of industrial robots.

2.a) Describe the geometric interpretation of rotion matrix.

b) Illustrate the inverse transform technique to solve for Euler angles
for a 6 joint manipulator.

3.a) Express the joint velocity in a link i and find the effects of motion
of other joints on all the points in this link.
b) Consider a two link manipulator with revolute joints. Apply L-E
formulation to find its motion.

4.a) Distinguish between open and closed loop control systems. What is
meant by resolved motion control?
b) Illustrate the resolved motion force control of a robot arm. Find the
joint torque and actual cartesian force.

5.a) Explain the Man-Hilderth edge detection mechanism.

b) Present the need for edge detection. Give the edge models.

6.a) Illustrate thresholding to segment an input image.

b) Distinguish between a contour and skeleton. Explain MAT
algorithm.

7. Describe the OCR system working for recognizing printed characters

on fax images.

8. Explain the use of an industrial robot for machine loading and

unloading operations.
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