M.A.

M SCHOOL OF ENGINEERING
Siruganur, Trichy-621105
MODEL TEST (SET A)
RO8591/IC6003 – Principles of Robotics
Date: Duration: 3 Hours
Year/Dept: III &IV / EEE Max. Marks: 100

PART A (2 Marks)

1 List various classifications of Robot.

2 Discriminate the internal and external state sensor.

3 An RR robot has two links of length 1m. Assuming that the origin of the global co-
ordinate system is at joint J1. Determine the joint rotation of the end effector located at
(2, 5).
4 Define SCARA robots.
5 Define Angular velocity.
6 Show the non-singularity of a matrix.
7 Discuss Joint Space Trajectory planning.

8 Analyze the use of a p-degree polynomial as interpolation function.

9 Design a single degree of freedom system

10 Describe the schematic of robot control system.

PART B (13 Marks)

11 a) i) Describe about the various mechanical manipulators. (7)

ii) With neat sketches explain the classification of robot based on (6)

(i) Configuration (ii) Degrees of Freedom

(Or)
11 b) i) What are grippers? Point out the use of various grippers in robot. (7)

ii) Describe salient features of robot in different field applications. (6)

12 a) i) Summarize in detail about robot dynamics. (7)

ii) Develop the workspace of a two link planar manipulator. (6)

(Or)
12 b) i) Explain Denavit-Hartenberg (DH) notation to develop the kinematic (7)

model of a manipulator with neat diagram.

ii) Discuss about the term closed form solutions. (6)
13 a) Describe the following methods of computation of Jacobian. (13)

i) Prismatic Joint Jacobian. ii) Rotary Joint Jacobian.

(Or)
b) Explain the following: (13)

i) Wrist singularity. ii) Arm singularity.

14 a) i) Discuss in detail about the position and orientation planning. (13)

ii) Discuss in detail about the use of p-Degree polynomial as Interpolation

function.
(Or)
14 b) The second joint of SCARA manipulator is required to move from θ2 = 30o to (13)
150o in 5 seconds. (i) Find the cubic polynomial to generate the smooth
trajectory for the joint. (ii) Analyze the maximum velocity and acceleration for
this trajectory.
15 a) Explain about the 2 Degree of Freedom Manipulator Dynamic Model with (13)
kinetic and potential energy equations.
(Or)
15 b) Explain following
i) Kinematic of Links(8)
ii) Comparison of Lagrange and Newton Euler Formulations.(5)

PART C (15 Marks)

16 i) Draw and explain about the architecture of Hybrid Position/Force control (8)
scheme.
ii) Drive the Step Response of joint in PID Control Model with diagram. (7)