Rr720505 Robotics

8/9/2019 Rr720505 Robotics

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Code No: RR420505 Set No. 1

IV B.Tech II Semester Supplimentary Examinations, May 2008ROBOTICS

(Computer Science & Engineering)Time: 3 hours Max Marks: 80

Answer any FIVE QuestionsAll 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 differentteaching methods of robot.

(b) Discuss principle, limitations, applications and advantages of Fiber optics sen-sors. [8+8]

3. (a) Show that if A is a 3×3 orthogonal matrix, then the homogeneous transfor-mation matrix Figure 3a.

Figure 3a

(b) What is homogenous transformation of coordinates? Write the homogenoustransformation matrix for translation in 3D. [8+8]

4. Find the manipulator jacobian matrix J (q) of the two-axis planar articulated robotshown in figure 4. [16]

Figure 4

5. Draw a two link manipulator and mark the various parameters on it. Derive theequations 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? Discussany 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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1. Define the term ‘robot’ and describe the robot anatomy. [16]

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. [6+10]

3. What is inverse kinematics problem? Explain the solution to the inverse kinematicsproblem with an example. [16]

4. Find the manipulator Jacobian matrix J(q) of the five axis spherical coordinaterobot shown in figure 4. [16]

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 manipulatorshown in figure 6, to generate a trajectory that starts from rest at the initial positionand comes to a complete stop at the final position in two seconds. Assume that∆= 0.25 second. [16]

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Figure 6

7. (a) Distinguish between mechanical and pneumatic grippers.

(b) With a neat sketch describe the working of an optical encoder. [8+8]

8. Discuss the different applications of robots in material handling. [16]

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1. Explain different types of manipulator configurations with neat sketches. [16]

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 conventionfor selecting frames of reference in robotic application. [16]

4. Explain the method of expressing the rotational velocities of an object moving inspace. [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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1. Describe the functions of the four basic types of a robot. [16]

2. (a) Explain the various capabilities and limitations of the robot languages.

(b) Sketch and explain touch sensors and proximity sensors. [6+10]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

(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 matrixJ k(q) for k=12. [16]

Figure 4

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 figure6, to generate a trajectory that starts from rest at the initial position and comes toa 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 usedin Robots? Discuss any two types of Grippers with the help of neat diagrams. [16]

8. Enumerate the advantage, working principle and application of Machine visionsystem. [16]

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