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Second Assignment Questions of IR

This document contains questions divided into 6 batches regarding industrial robotics. The questions cover topics such as deriving equations of motion for robot arms using Lagrangian mechanics, common robot motion types, the differences between path and trajectory planning, types of drive systems, optical encoders, Jacobian matrices, single cubic trajectories, proximity/range sensors, electric/stepper motors, Newton-Euler vs Lagrange-Euler formulations, trajectory planning steps, lead-through programming, pick and place operations, tactile sensor classification, Lagrange-Euler dynamic modeling steps, textual robot languages, programming in space, robot material handling considerations, sensor types, differential transformations, path planning purposes, robot programming languages, arc welding robots, and position sensor working principles.

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Chadaram Jagadish
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104 views3 pages

Second Assignment Questions of IR

This document contains questions divided into 6 batches regarding industrial robotics. The questions cover topics such as deriving equations of motion for robot arms using Lagrangian mechanics, common robot motion types, the differences between path and trajectory planning, types of drive systems, optical encoders, Jacobian matrices, single cubic trajectories, proximity/range sensors, electric/stepper motors, Newton-Euler vs Lagrange-Euler formulations, trajectory planning steps, lead-through programming, pick and place operations, tactile sensor classification, Lagrange-Euler dynamic modeling steps, textual robot languages, programming in space, robot material handling considerations, sensor types, differential transformations, path planning purposes, robot programming languages, arc welding robots, and position sensor working principles.

Uploaded by

Chadaram Jagadish
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Industrial Robotics

second assignment questions

Batch – 1
1. Using Lagrangian method , derive the equations of motion for the two degree of freedom robot
arm, shown in figure, the center of mass for each link is at the center of link. The moments of
inertia are I1 and I2

2. What are the common motion types that a robot manipulator can make in travelling from point
to point? Explain.

3. Differentiate between path planning and trajectory planning.

4. List out the types of Drive systems used in Robots.

5. Explain the operation of optical encoder used in robot as a feedback device.

Batch – 2
1. What is Jacobian matrix? Explain.

2. Explain the following: (i) Skew motion (ii) Straight line motion

3. A single cubic trajectory is given by θ(t) = 8+10t+45t2+35t3 and is used over the time interval
from t =1 to t = 2. What are the initial and final velocities and accelerations?

4. Explain about Proximity and Range sensors in detail.

5. Explain about electric & stepper motors.


Batch – 3
1. State the situation when you will prefer Newton-Euler and when you will prefer Lagrange-
Euler formulation?

2. Discuss steps involved in trajectory planning.

3. Explain Lead through programming methods.

4. Define material transfer application? Explain about simple pick and operation with neat
sketch.

5. How do you classify Tactile sensor? Explain them briefly with neat sketch.

Batch – 4
1. Explain the steps involved in the formulation of Lagrange-Euler dynamic model.

2. Discuss the relative merits and demerits of different textual robot languages.

3. Write about Textual Robot languages programming as a path in space.

4. What are general considerations in Robot material handling?

5. What are the uses of sensor in robotics? What are the types of sensors used in robotics?

Batch – 5
1. What is the purpose of Differential transformation?

2. Explain why path planning is required for a robotic system.

3. What are different robot programming languages?

4. Explain robots in arc welding.

5. Briefly explain the working principle of any two types of position sensors with a neat sketch.
Batch – 6
1. Using Lagrangian mechanics derive the equations of motion for the two degree of freedom
system shown in figure 1:

Figure: 1
2. Discuss the following categories of program instructions in VAL robot programming:

i) Robot configuration control ii) Motion control

3. Explain the various capabilities and limitations of the robot languages.

4. Compare stepper motor and D.C. motor drives for a robot.

5. What is potentiometer?

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