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Posted By: acme Member Level: Silver Posted Date: 15 Apr 2008
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2007 Jawaharlal Nehru Technological University B.E Computer Science ROBOTICS Question paper
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Code No: RR420505 Set No. 1
IV B.Tech II Semester Regular Examinations, Apr/May 2007
ROBOTICS
(Computer Science & Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
? ? ? ? ?
1. Describe the functions of the four basic types of a robot. [16]
2. Classify various teaching methods of robot and briefly discuss about each of them.
[16]
3. How does direct kinematics differ from inverse kinematics? Discuss Euler angle
representation for orientation. [16]
4. Explain the method of expressing the translational velocities of an object moving
in space. [16]
5. Derive the equations of motion for the two link manipulator shown in figure 5 on
the basis of Lagrangian-Euler formulation. [16]
Figure 5
6. Explain briefly the two stage control of manipulator using interpolation of end
effectors position method. [16]
7. With a line diagram explain the operation of Linear Position measuring transducers
used in robots. [16]
8. What is machine vision? Explain the techniques of image processing. [16]
? ? ? ? ?
Set No. 2
1. Classify the robots based on their different configurations and discuss their applications and limitation. [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 sensors.[8+8]
3. Discuss algorithm used to solve multiple solutions for inverse kinematics of any
type of robot. [16]
4. Define joint-space singularities. Explain with suitable example about the following
two types of joint-space singularities.
(a) Boundary Singularities
(b) Interior Singularities [2+7+7]
5. Derive the equations of motion for the two link manipulator shown in figure 5 given
below on the basis of Lagrangian formulation. [16]
Figure 5
6. Explain briefly the two stage control of manipulator using interpolation of end
effectors position method. [16]
1 of 2
Code No: RR420505 Set No. 2
7. Discuss the different types of grippers used in industrial robots. [16]
8. Explain
(a) Neighborhood averaging
(b) Image averaging method for smoothing of image. [16]
? ? ? ? ?
Set No. 3
1. What is the work envelope of a robot? Sketch and explain two views to indicate
the work envelope of a
(a) cylindrical robot.
(b) Anthropomorphic robot. [2+7+7]
2. (a) What are the advantages of off line programming languages of robots over
other teaching methods
(b) What are the different types of sensors used in robots? Explain the suitable
sensor to measure the position of the gripper accuratel. [8+8]
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 translational velocities of an object moving
in space. [16]
5. Explain the application of Lagrangian ? Euler equations for a two link planar
manipulator having masses m1, m2 and lengths d1, d2 and joint angles ?1, ?2. [16]
6. What is hybrid control? Explain the hybrid control of manipulation. [16]
7. Describe the following types robot grippers with the help of neat sketches:
(a) Cam operated gripper
(b) Gear operated gripper
(c) Lever operated gripper [5+5+6]
8. Discuss the various applications of robots in hazardous areas. [16]
? ? ? ? ?
Set No. 4
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 sensors.[8+8]
3. Describe Euler angle representation of Orientation and obtain Euler angle using
inverse solution. [16]
4. Find the Jacobian matrix for the three-link planar manipulator shown in figure 4.
[16]
Figure 4
5. Establish the Lagrange Euler equation of motion for the 2-link Manipulator as
shown in figure 5. (Assume d1 = d2 = 0, a1 = a2 = l, a1 = a2 = 0), m1, m2 are
mass of the links, ?1 and ?2 are joint angles. [16]
Figure 5
6. Explain briefly the two stage control of manipulator using interpolation of end
effectors position method. [16]
7. Discuss the different types of grippers used in industrial robots. [16]
8. State characteristics of work which promote application of robots. Discuss robot
application in painting. [16]
? ? ? ? ?
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