nv ec a ETC 8 (E - Ill) 4 (RC) B.E. (ETC) (Semester — VIII) (RC) Examination, May/June 2014 (Elective — Ill) : INTRODUCTION TO ROBOTICS Duration : 3 Hours Total Marks : 100 Instructions : 1) Answer any five questions with at least one question from each Module. 2) Assume suitable data whenever necessary. MODULE —! 1. a) Differentiate between Robotics and Automation. Give suitable example. 6 b) Discuss the term degree of freedom for a robot. Name the 3 degrees of freedom associated with arm and body motions for polar/cylindrical/j.a. configurations and explain in brief. 8 c) For the following symbols, sketch the corresponding robot configuration and describe each of them: i) TRL ii) TLL ill) LLL. 6 2. a) Whatdo you understand by Robot anatomy ? Discuss 4 basic industrial robot configurations. 10 b) What are playback robots ? Compare point to point control robots with continuous path control robots. 6 c) Compare hydraulic drives with pneumatic drives used in robots. 4 MODULE - Il 3. a) Explain the construction and operation of an absolute position encoder. Compare with incremental encoders. Find the resolution in degrees of a shaft encoder with ten tracks. 8 b) What are the various features to be considered for selecting a sensor in robotic applications ? 8 c) Explain what you mean by trajectory planning. 4 PTO.ETC 8 (E-Ill) 4(RC) (00.0 0 4. a) With aneat sketch explain the operation and use of a potentiometer. How are optical encoders different from a potentiometer ? b) What do you mean by internal state sensors and external state sensors ? Explain 2 tactile sensors. ¢) Whatare tactile array sensors ? Discuss any one application of these sensors. MODULE - III 5. a) Explain branching andits use in robot programming. b) Compare the 2 lead through programming methods and mention their applications, c) Explain WAIT, SIGNAL and DELAY commands used in robot programming with examples. 6. a) Describe the VAL II language in brief ? Describe the various motion commands used in VAL IL f b) Discuss 2 methods of robot programming. ¢c) Whatis teach pendant ? List down the basic teach pendant functions. MODULE - IV 7. a) Explain 4 basic illumination techniques used in machine vision, with sketches. b) Explain various robotic applications of machine vision. c) Compare legged and wheeled mobile robots. 8. a) Write short notes on : i) Path planning and configuration space li) Obstacle avoidance algorithms. b) List the basic features and measures for object identification for 2-D objects. c) Discuss different segmentation techniques in image processing. 4 6