Code No: RR321302 Set No.

1
III B.Tech Supplimentary Examinations, Aug/Sep 2008
ROBOTICS AND AUTOMATION
(Electronics & Control Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
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1. Classify the robots based on their different configurations and discuss their appli-
cations and limitations. [16]

2. (a) Enumerate the advantages and limitations of Lead through method robot
languages and Textual robot languages.
(b) What is meant by dynamic stabilization of robot? Discuss briefly. [8+8]

3. (a) Compare the electric drives and pneumatic drives for robot manipulator in
respect of the following factors:
i. Availability of component
ii. Space requirement
iii. Input power
iv. Working fluid [8]
(b) What are the different types of servomotors used in robot? Discuss them
briefly.
[8]

4. (a) What is machine vision? Explain any one technique of image processing.
(b) Which type of sensor is used to measure the position of the gripper accurately?
Explain briefly. [8+8]

5. Discuss the basic structure of hybrid control system in the manipulator control
system.
[16]

6. Classify the grippers based on contacting surface. Explain any two of them. [16]

7. Explain the different techniques for finding the Inverse kinematics for any manip-
ulator. [16]

8. (a) State characteristics of work, which promote application of robots.

(b) With the help of simple sketch, explain robot centered work cell. [8+8]

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Code No: RR321302 Set No. 2
III B.Tech Supplimentary Examinations, Aug/Sep 2008
ROBOTICS AND AUTOMATION
(Electronics & Control Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. (a) How do you specify a robot? Distinguish between the accuracy and repeata-
bility of a robot.
(b) With the aid of a simple sketch, explain the work envelope of Polar robot
configuration. [8]

2. (a) Explain the various capabilities and limitations of the robot languages.
(b) Discuss critically Asimov?s laws of Robotics with illustration. [8+8]

3. Name the different types of Hydraulic drives used in the robots. Describe them
with the help of neat sketches. [16]

4. (a) What are the different types of image processing in the machine vision system?
Explain briefly.
(b) Distinguish between tactile and non-tactile sensors? Explain examples of each
type.
[10+6]

5. Consider the hybrid control of two-link manipulator shown in figure 5 . Both link
lengths are 1. Give a detailed computational expression for each block of hybrid
control system for the task of moving the manipulator to follow the flat surface at
an inclination of 450 . Assume that position sensors measure the joint angles θ1 and
θ2 , and that a force sensor measures the contact-force
P components in the XH and
YH directions of the hand coordinate frame (OH − XH YH ). Assume also that
KP p = KP p I2, KP d = KP d I2 , and KF i = KF i I2 . [16]

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Code No: RR321302 Set No. 2

Figure 5
6. (a) Explain the important steps to be considered in gripper selection for handling
fragile and soft objects?
(b) Describe with suitable sketch the working of cam actuated gripper. [8+8]

7. Discuss any one method to solve problem of multiple solutions for inverse kinematics
problem for Robot. [16]

8. (a) State characteristics of work, which promote application of robots.

(b) With the help of simple sketch, explain robot centered work cell. [8+8]

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Code No: RR321302 Set No. 3
III B.Tech Supplimentary Examinations, Aug/Sep 2008
ROBOTICS AND AUTOMATION
(Electronics & Control Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. (a) How do you specify a robot? Distinguish between the accuracy and repeata-
bility of a robot.
(b) With the aid of a simple sketch, explain the work envelope of Polar robot
configuration. [8]

2. (a) Explain the various capabilities and limitations of the robot languages.
(b) Discuss critically Asimov?s laws of Robotics with illustration. [8+8]

3. What are the different types of cylinders used in pneumatic drives? Describe any
four pneumatic cylinders with the help of simple sketches. [16]

4. Discuss the applications and working principle of the following sensors:

(a) Range sensors

(b) Acoustic sensors
(c) Tactile sensors. [5+5+6]

5. What is hybrid control? Explain the hybrid control of manipulation. [16]

6. Discuss the following types of grippers:

(a) Vacuum gripper

(b) Magnetic gripper
(c) Gear and Rack type gripper. [5+5+6]

7. Discuss algorithm used to solve multiple solutions for inverse kinematics of any
type of robot. [16]

8. (a) How many degrees of freedom for a robot wrist are required to use in simple
pick and place applications? Explain briefly.
(b) Explain the concept of multiple robot and discuss the advantages of it. [8+8]

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Code No: RR321302 Set No. 4
III B.Tech Supplimentary Examinations, Aug/Sep 2008
ROBOTICS AND AUTOMATION
(Electronics & Control Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

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

2. Classify various teaching methods of robot and briefly discuss about each of them.
[16]

3. Explain with suitable example, the single axis rotation method to find out the
trajectory of end effectors. [16]

4. Explain the following for smoothing of image:

(a) Neighborhood averaging

(b) Image averaging method [8+8]

5. What is passive impedance method and active impedance method? Explain them
briefly. [16]

6. (a) What are the advantages and disadvantages of hydraulic grippers?

(b) With the help of a neat sketch explain the principle and working of pneumatic
gripper. [6+10]

7. Distinguish inverse kinematics from direct kinematics? What is the role of inverse
kinematics in controlling of robots? [16]

8. (a) What are the various applications of robots in hazardous areas? Discuss them
in detail.
(b) Explain the concept of ?tracking window? in In-line robot work cell. [10+6]

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