IFET COLLEGE OF ENGINEERING

(An Autonomous Institution)

Department of Information Technology
Department of Information and Technology

APPLICATION SOLVED FOR UNIT -II

Course code & Name: 19UITPE403 & Robotics Year/Semester: II/IV

PART - A (2 marks)

1. Calculate the distance d in triangulation principles whose length is 7 mm and angles on

both the adjacent sides are 30 degree.
Given 2 marks
Length, b=7 mm
 = 30°
Solution:
The distance, d= b.tan
= 7 tan 30°
= 4.041mm
2. The calibration procedure consists of distance 10mm and angle between lens source and
lens center is 45 degree. Determine the focal length of the lens.
Given 2 marks
d= 10 mm
 = 45°
Solution:
𝐭𝐚𝐧 𝜽
The focal length, 𝜆=
𝒅
𝐭𝐚𝐧 𝟒𝟓°
𝜆=
𝟏𝟎
𝜆 = 0.1 mm
3. Outline the hand with binary sensors.
The fingers as shown in figure accommodate the binary sensors. The contact with the parts
results in deflection and this information is sufficient to determine the presence of the object
between the fingers. 2 marks

Figure 1: Hand with Binary sensor

1
 The proper grasping and manipulation of the object can be achieved through centering of the
fingers assisted by the information given by binary sensors.

4. Point out few analog sensors that are used in industrial robots. 2 marks
The following sensors are the analog sensors which are most prominently used in industries.
 Light sensors
 Sound sensors
 Pressure sensors
 Analog temperature sensors
5. Categorize how the industries worn touch sensors. 2 marks
The touch sensors gather the information established by the contact between the parts to
be handled and the fingers in the manipulator end effectors. Hence these signals of the touch
information are worn by the industries, for locating the objects, recognizing the object type
and Force and torque control needed for task manipulation.
6. Outline a simple robot which had equipped with analog touch sensors. 2 marks

Figure 2: Robot with analog sensor

The analog sensors are featured by spring actuated to a code wheel. The deflection of the
plunger rod by the action of contact force, results in rotation of the wheel which gives an
output proportional to the sensors force.

7. Outline a basic analog sensor robot hand equipped with tactile sensing arrays.

2 marks
Figure 3: Analog sensor robot hand equipped with tactile sensing arrays

2
 An array of analog or touch sensors arranged systematically to provide information about
the contact fingers with the object is called tactile sensing. The special tactile sensors are
used to provide additional information like shape, size and the type of material of the
objects.

8. Interpret the robots that are equipped with wrist sensors. 2 marks
A wrist-force sensor can detect and measure the forces (pitch –yaw-roll) that exist at the
point where a robot arm joins the end-effector. It consists of specialized pressure sensors
known as strain gauges. The strain gauges convert the wrist forces into electric signals,
which go to the robot controller. Thus the wrist sensors are used in used in robotic machines
to determine what is happening at the wrist to act accordingly.

9. Illustrate the application of image conversion in computerized vision system. 2 marks

The image conversion in computerized vision system has been used in,
 Image sharpening and restoration
 Medical field
 Remote sensing
 Transmission and encoding
 Color processing
 Pattern recognition
 Video processing
 Microscopic Imaging
10. Categorize the common imaging devices used in robot vision system. 2 marks
The basic types of lighting devices in robot vision may be grouped into the following
categories
a) Diffuse surface devices
b) Condenser projectors
c) Flood or spot projectors
d) Collimators
e) Images
11. A rastor scan system of vision has a frame of face-plate with 256 lines, having 1/3 sec. as
the scanning rate. It may be assumed that the electron beam takes 10% of the scan time to
move from one line to another line. If there are 256 pixels per line, determine the
sampling rate.
Solution: 2 marks
𝑅+𝑁𝑅𝑑
Pn=(
𝑁.𝑆
)
Given:
1
R= 3 sec
N= 256 lines
Pn = 256 pixels

3
 𝑅 0.1𝑅
Rd =10% of =
𝑁 𝑁
Hence S= sampling rate in seconds/pixel.
𝑅+0.1 𝑅
S= ( )
𝑃𝑛 .𝑁
1
1.1+
3
=( )
256×256
= 5.6×10−6 s/pixel.

12. Point out where the machine vision techniques are used. 2 marks
 Visual stock control and management systems (counting barcode reading, store interface
for digital system).
 Control of Automated Guided Vehicles (AGV).
 Automated monitoring of sites for security and safety.
 Monitoring of agricultural production.
 Quality control and refinement of food products.
 Safety system in industrial environment.

PART – B (16 marks)

1. a. Illustrate the uses of wrist and compliance sensors. 12 marks

Wrist Sensors 5 marks

As shown in figure 4, several different forces exist at the point where a robot arm joins the
end effector. This point is called the wrist. It has one or more joints that move in various ways. A
wrist-force sensor can detect and measure these forces. It consists of specialized pressure sensors
known as strain gauges. The strain gauges convert the wrist forces into electric signals, which go
to the robot controller. Thus the machine can determine what is happening at the wrist, and act
accordingly.

Figure 4: Wrist-Force Sensing

4
 Wrist force is complex. Several dimensions are required to represent all the possible
motions that can take place. The illustration shows a hypothetical robot wrist, and the forces that
can occur there. The orientations are right/left, in/out, and up/down. Rotation is possible along all
three axes. These forces are called pitch, roll, and yaw. A wrist-force sensor must detect, and
translate, each of the forces independently. A change in one vector must cause a change in sensor
output for that force, and no others.
COMPLIANCE SENSORS 8 marks
 Compliance sensors or ultrasonic range finder are a function of range sensors which is to
measure the distance.
 The basic idea being same as that used with pulsed laser.
 An ultrasonic chip is transmitted over a short time period and, since speed of sound is
known for specified medium.
 A simpler calculation involving the internal between the outgoing pulse and return eco
yields an estimate of the distance to the reflecting surface.

The one of the most commonly used compliance devices in industries are RCC devices
which are commonly used in automated assembly applications to provide compliance for
misalignment during assembly. The compensator is a compliance device that enhances the
flexibility and reliability of a robot (or) assembly machine. Passive compliance method of
providing compliance, to cart the misalignment errors during the assembly, is to use passive
mechanical device known as Remote Center Compliance (RCC) Device.

The RCC device can provide all three types of compliance:

 Lateral
 Rotational
 Axial and it is attached between the wrist end and the gripper.

A typical device consists of four lateral and four rotational compliance elements as
shown in below figure. All the eight elements together provide the axial compliance.
The working of RCC device is illustrated in below figure 5.

Figure 5: A remote centre compliance device

5
 Assume that during the assembly, the peg reaches above the hole and its one corner is
just touching the chamfer. The axes of peg and hole are parallel but not coincide. When the robot
tries to push in the peg, the forces at the contact point between peg and hole generate a lateral
force. Under the lateral force, the lateral compliance elements deform and allow the peg to move
laterally without movement of the manipulator. This stage 18 is shown in figure. Consequently,
the peg moves horizontal and slides into the hole.

Figure 6: Use of RCC device to correct lateral and rotational errors

When there is angular misalignment between the axes of the peg and hole, their axes are
not parallel. Assume that the manipulator is pushing the peg at an angle as illustrated in figure
6b. As the peg comes in contact with the corner of the hole, an angular moment is generated and
angular compliance element of RCC device deforms. The deformation of angular elements
results in making axis of peg parallel to axes of hole, facilitating the assembly while the axis of
the manipulator is still misaligned. The vertical components of forces generated by the contact of
peg with hole, deform (compress) all the right compliance elements providing axial compliance.
This axial compliance pushes the peg into the hole once the lateral und angular position errors
are corrected, accomplishing the start of assembly.

b. The maximum voltage range for a bit capacity A/D converter is 18V. Calculate the
quantization levels, quantization level spacing, and the quantization error. 3 marks
Solution:
The number of quantization level, Q =2n
Q = 28 =256
𝐹𝑟
The quantization level spacing, L =
𝑄
Fr = 18 volts
18
So, L = = 0.0703 V
256
The quantization error,
1 1 18
eq = ± L =±
2 2
(256)
= 0.03515 V

6
2. a. A laser scan system of vision has a frame of face-plate with 350 lines, having 5 sec. as
the scanning rate. It may be assumed that the electron beam takes 20% of the scan time to
move from one line to another line. If there are 128 pixels per line, determine the
sampling rate. 16 marks
b. Interpret how machine vision system is used by industries.

a. Solution:
𝑅+𝑁𝑅𝑑
Pn=(
𝑁.𝑆
) 4 marks
Given:
R= 5 sec
N= 350 lines
Pn = 128 pixels
𝑅
Rd =10% of
𝑁
0.1𝑅
Rd =
𝑁
Sampling rate in seconds/pixel is given by S,
𝑅+0.1 𝑅
Where, S= ( )
𝑃𝑛 .𝑁
1.1+5
=( )
128×350
= 0.0001361
S = 1.3×10−3 s/pixel.
b. Machine vision application by industry. 8 marks
Vision systems are being used by the industries increasingly with robot automation to perform
the following tasks:

Part identification: Commercially available vision systems store data for dif- ferent parts in
active memory and use the data to distinguish between parts as they enter the work cell. The
system can learn the characteristics of different parts and identify each part from its two-
dimensional silhouette.
Part lucation: Vision technology allows the user to locate randomly placed parts on an X-Y
grid. The vision system measures the X and Y distances from the center of the camera coordinate
system to the center of the randomly placed part.
Part orientation: Every part must be gripped in a specified manner by the end-of-arm tooling.
The vision system supplies the orientation information and data that are used to drive the gripper
into the correct orientation for part pickup. Many part orientation parameters, both measured and
calculated are provided by the vision system for use in automated part handling
Part inspection: Vision systems are used to check parts for dimensional ac curacy and
geometrical integrity. The parts are measured by the camera, and the dimensions are calculated at
the same time, the vision system checks the parts for any missing holes or changes in the part
geometry.
Range finding: In some applications the system uses two or more cameras to measure the X, Y,
Z location of the part. This technique is also used sure and calculate the cross-sectional area of
parts.

7
 4 marks
The use of vision to enhance the operation of an automated work cell has moved from the
research laboratory to the factory floor. More than fifteen manufacturers provide equipment that
gives robots the eyes they need to perform complex manufacturing tasks. Most of the equipment
is for part identification, location, and orientation information necessary for automatic handling
of parts plus inspection.
i. Large scale industrial manufacture.
ii. Short run unique objected manufacture.
iii. Retail automation
iv. Visual stock control and management systems (counting, barcode reading, store interface
for digital system)
v. Control of Automated Guided Vehicles (AGVs).
vi. Automated monitoring of sites for security and safety
vii. Monitoring of agricultural production.
viii. Quality control and refinement of food products.
ix. Consumer equipment control.
x. Provide Artificial Visual Sensing for the blind.
xi. Medical Imaging Process (eg, Interventional Radiology) 11. Medical Remote
Examination and Procedures
xii. Safety system in industrial environment.

3. In Videocon camera the image taken is digitized and stored, Illustrate how an image is
converted into digitized data and stored in a computer. 16 marks
 Vidicon cameras are the types of cameras used to record television programs. 8 marks
 The operation of the camera requires many of the same techniques used in tele vision
playback technology.
 In the Videocon camera, shown in Figure 5 light (from a camera lens passes through a thin
metallic layer onto a photosensitive image surface. The light causes electrons to be released
in the photosensitive layer.

4 marks
Figure 5: Videocon Camera
 The negative charges tend to stay where they are created. (If very large charges build up, they
will eventually spread out or "bloom").

8
 An electron beam sweeps across the image surface one row at a time, starting from the top
row and working toward the bottom
 Where the electron beam encounters zones of plentiful charge, it causes lots of charge to
move into the metallic layer behind the photosensitive layer.
 Where it encounters zones of low charge, less charge is moved into the metallic electrode.
 All the charges are cleared in the process, as the electron beam passes.
 The charge in the electrode is thus proportional to the amount of light received at the portion
of the image surface being "read" since the last time it was read.
 Note that the output of the vidicon camera does not inherently break the image into pixels as
the CCD camera did.
 This continuous analog output contains voltages proportional to charge levels at each
horizontal sweep, and blank sections where the camera did not read charges because the
beam was returning horizontally for another sweep, or was returning vertically for another set
of sweeps.
 The vidicon camera output is the type of signal that a television needs to put an image on a
screen with a similar electron gun.
 Television signal transmissions also make use of the blank sections, inserting a negative
voltage that the television receiver looks for and uses to synchronize its playback beam
location.
 Television's use of vidicon cameras demands that a standard number of rows be used, and
that a standard sequence of scanning of the rows be used.
 Television systems use an "interleaved" scan sequence that starts with the top row and then
sweeps each second row (left to right) from there to the bottom, then returns to the top and
scans the missed rows.
 Each of the two scans of the screen takes 1/60 of a second, so the image is completely
refreshed every 1/30 of a second. Interleaving of frames serves to reduce flicker and maintain
more even screen brightness.

Advantage of Vidicon Camera 4 marks

 Low cost
 Greater resolution
 Small-sized and light-weighted.
 It provides good resolution.
 Vidicon offers variable sensitivity towards illumination, by causing variation in target
voltage.
 It provides better SNR than image orthicon TV camera tubes

Disadvantage of Vidicon Camera

 The vidicon has some characteristics that allow it to be used in applications, where the
data must be "pre-processed" before it is sent to the computer.
 Though it provides good sensitivity, somewhat less than the sensitivity of image orthicon.
 It offers around 20 nano ampere of dark current.
 The problem of image lag may lead to burn-in of the image at the target when exposed to
long-duration in bright scenes.