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Marks I A) Arm. B) of 2 A) B) Motors. 3 A) List B) : Kalam

This document appears to be an exam for a robotics engineering course. It contains 6 parts with multiple questions in each part. Part A has 3 questions about robotic arm components, hydraulic actuators, and sensors. Part B has 3 questions covering image processing, homogeneous transformations, and forward kinematics. Part C has 3 questions on equations of motion, robot programming languages, and inverse kinematics. The exam tests students' knowledge of key topics in robotics including sensors, actuators, kinematics, programming, and applications.

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Krishnakumar Kattarakunnu
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57 views2 pages

Marks I A) Arm. B) of 2 A) B) Motors. 3 A) List B) : Kalam

This document appears to be an exam for a robotics engineering course. It contains 6 parts with multiple questions in each part. Part A has 3 questions about robotic arm components, hydraulic actuators, and sensors. Part B has 3 questions covering image processing, homogeneous transformations, and forward kinematics. Part C has 3 questions on equations of motion, robot programming languages, and inverse kinematics. The exam tests students' knowledge of key topics in robotics including sensors, actuators, kinematics, programming, and applications.

Uploaded by

Krishnakumar Kattarakunnu
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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F Fl166

Reg No.:

APJ ABDUL KALAM TECHNOLOGICAI,


SIXTH SEMESTER B.TECH DEGREE EXAMTNATIb!
. -.' \

Max. Marks: 100 Duration: 3 Hours

PART A

Answer any two full marks


questions, each cawies 15 Marks

I a) Draw and explain the components and structure of robotic arm. (5)
b) Explain the working of linear and rotary tlpes of hydraulic actuators with the help of (10)
neat diagrams.

2 a) Describe the characteristics of sensors. Explain various sensors with the help of neat (7)
diagrams.
b) Briefly explain the speed control and direction control of electric motors. (8)
3 a) Explain the principle of operation of stepper motors and brushless DC motors. List (S)
their advantages and disadvantages.
b) Explain the common kinematic arrangements of robots based on various coordinate (7)
systems.

PART B

Answer any twofull qaestions, each canies 15 marks

4 a) Discuss various image processing techniques used in robotics. (10)


b) Calculate the inverse of the following transformation matrix. (s)
0,s 0 0.866 3l
[ 0,866
- || o 0
r_ -0.s 2l
1 0 sl
[o o o 1r
5 a) A frame B was rotated about the x-axis 90o, then, it was translated about the current (8)
a-axis 3 inches before it was rotated about z-axis 90o. Finallv. it was translated about
current o-axis 5 inches.
a) Write an equation that describes the motion.

b) Find the final location of a point P (1, 5,4)r attached to the frame relative to the
reference frame.
b) Derive the matrix representing the orientation change with Euler angles. Which are (7)

Page L of 2
F Fl166 Pages:2
the fundamental rotations involved in this?
6a) For a siinple 2-axis robot shown in figure, (8)
i) Assign appropriate frames for DH representation.
ii) Fill out parameters table.
iii) Derive the forward kinematic equations for the robot.
32

Zo

b) Write homogeneous transformation matrix for translation in cylindrical coordinate (7)


system. Which are the three transformations involved?

PART C
Answer any two full questions, each carries 20 marks
7 a) Derive the equations of motionfor2 DOF system shown in figure. (10)

b) Explain the structure of robot programming language. (10)


a) Derive the Jacobian operator for linear and angular velocity of end-effector. (10)
b) Distinguish between textual programming and lead through programming. (s)
c) Write VAL commands for controlling end-effector motion of a robot. (5)
a) What is the role of inverse Jacobian operator in velocity kinematics? Also, explain (10)
the significance of singularities in the same.
b) Describe the state-of-art of robotics. What are rrrobile robots? (10)
*****!f **{.*rl.l.i.{.rl.rlr!t ******!t**rl.{.1.rf :l.rl.**r|(rF****rl.rl.*{.!t !t *rf rt !t{.rl.rl.rtrtrt:l.1.rt*d.rl.:t

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