Rr720505 Robotics

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Code No: RR420505 Set No. 1

IV B.Tech II Semester Supplimentary Examinations, May 2008
ROBOTICS
(Computer Science & Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
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1. With the help of line diagram explain basic components of a Robot system. [16]
2. (a) What is robot software? Discuss the software elements of robot and different
teaching methods of robot.
(b) Discuss principle, limitations, applications and advantages of Fiber optics sen-
sors.
3. (a) Show that if A is a 3×3 orthogonal matrix, then the homogeneous transfor-
mation matrix Figure 3a.
[8+8]
Figure 3a
(b) What is homogenous transformation of coordinates? Write the homogenous
transformation matrix for translation in 3D. [8+8]
4. Find the manipulator jacobian matrix J (q) of the two-axis planar articulated robot
shown in figure 4. [16]
Figure 4
5. Draw a two link manipulator and mark the various parameters on it. Derive the
equations of motion using the Lagrangian formulation for this configuration. [16]
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6. What are the various methods for determining a desired trajectory of joint? Discuss
any one method in brief. [16]
7. Discuss the functions of gripper with the help of a sketch. Explain the working of
magnet grippers used for robots. [16]
8. Explain the applications of robots in loading and unloading. [16]
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ROBOTICS
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1. Define the term ‘robot’ and describe the robot anatomy.
2. (a) Discuss the following robot language functions:

i. MOVE and related statements.
ii. SPEED control.
iii. Paths and frames.
(b) What are the uses of sensors in robotics? Explain.
3. What is inverse kinematics problem? Explain the solution to the inverse kinematics
[16]
[6+10]
problem with an example. [16]
4. Find the manipulator Jacobian matrix J(q) of the five axis spherical coordinate
robot shown in figure 4. [16]
www.andhracolleges.com Figure 4
5. Explain the application of Lagrangian? Euler equations for a two link planar ma-
nipulator having masses m1 , m2 and lengths d1 , d2 and joint angles θ1 , θ2 . [16]
6. Apply the interpolation of end effectors method to the two link planar manipulator
shown in figure 6, to generate a trajectory that starts from rest at the initial position
and comes to a complete stop at the final position in two seconds. Assume that
∆= 0.25 second. [16]

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7. (a) Distinguish between mechanical and pneumatic grippers.
(b) With a neat sketch describe the working of an optical encoder.
8. Discuss the different applications of robots in material handling.

[8+8]
[16]
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ROBOTICS
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1. Explain different types of manipulator configurations with neat sketches.
2. What is the role of programming support in the robot-oriented programming lan-

guages? Explain. [16]
3. What is a forward kinematics problem? Explain Denavit-Hartenberg convention

for selecting frames of reference in robotic application. [16]
4. Explain the method of expressing the rotational velocities of an object moving in

space. [16]
[16]
5. Explain the Lagrange? Euler’s formulation for robot arm. [16]
6. Explain various force control methods in robot manipulators. [16]
7. Discuss three different types of mechanical grippers used in industrial robots. [16]
8. Discuss the various interface hardware and software used in the machine vision.
[16]
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ROBOTICS
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1. Describe the functions of the four basic types of a robot.
2. (a) Explain the various capabilities and limitations of the robot languages.
(b) Sketch and explain touch sensors and proximity sensors.
3. Find the composite rotation matrix representing the following:
(a) A rotation of about y-axis

(b) A rotation of θ about w-axis and
[16]
[6+10]
(c) A rotation of α about u-axis. [5+5+6]
4. For the polar coordinate robot shown in figure 4, find the link Jacobian matrix
J k (q) for k=12. [16]
5. Explain the Lagrange? Euler’s formulation for robot arm. [16]
6. Apply the joint variables method to the two link planar manipulator shown in figure
6, to generate a trajectory that starts from rest at the initial position and comes to
a complete stop at the final position in one second. Assume that ∆= 0.25 second.
[16]

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Figure 6
7. What is the function of the Gripper? What are the different types of Grippers used
in Robots? Discuss any two types of Grippers with the help of neat diagrams. [16]
8. Enumerate the advantage, working principle and application of Machine vision

system. [16]
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www.andhracolleges.

com The Complete Information About Colleges in Andhra Pradesh

Code No: RR420505 Set No. 1

www.andhracolleges.com Engineering-MBA-MCA-Medical-Pharmacy-B.Ed-Law Colleges Information

Code No: RR420505 Set No. 1

8. Explain the applications of robots in loading and unloading. [16]

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Code No: RR420505 Set No. 2

2. (a) Discuss the following robot language functions:

problem with an example. [16]

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Code No: RR420505 Set No. 2

8. Discuss the different applications of robots in material handling.

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Code No: RR420505 Set No. 3

2. What is the role of programming support in the robot-oriented programming lan-

3. What is a forward kinematics problem? Explain Denavit-Hartenberg convention

4. Explain the method of expressing the rotational velocities of an object moving in

5. Explain the Lagrange? Euler’s formulation for robot arm. [16]

6. Explain various force control methods in robot manipulators. [16]

Seminar Topics - Scholarships - Admission/Entrance Exam Notifications

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Code No: RR420505 Set No. 4

3. Find the composite rotation matrix representing the following:

(a) A rotation of about y-axis

(c) A rotation of α about u-axis. [5+5+6]

5. Explain the Lagrange? Euler’s formulation for robot arm. [16]

Seminar Topics - Scholarships - Admission/Entrance Exam Notifications

www.andhracolleges.com Engineering-MBA-MCA-Medical-Pharmacy-B.Ed-Law Colleges Information

8. Enumerate the advantage, working principle and application of Machine vision

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