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Robotics QP Dec.2023 BE ECS

This document contains a paper for a robotics exam. It has 6 questions covering topics like robot kinematics, vision, and programming. Students are instructed to answer 4 out of the 6 questions in 3 hours. Diagrams and mathematical expressions are provided where needed. Full marks are allocated at 80.

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Karan Patel
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40 views2 pages

Robotics QP Dec.2023 BE ECS

This document contains a paper for a robotics exam. It has 6 questions covering topics like robot kinematics, vision, and programming. Students are instructed to answer 4 out of the 6 questions in 3 hours. Diagrams and mathematical expressions are provided where needed. Full marks are allocated at 80.

Uploaded by

Karan Patel
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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Paper /Subject Code: 89371/ Robotics

-CBcC'
EcS - VI
STM Dec 2023

Time :-3 Hours Maximum Marks :-80

Note:
, Question number one is compulsory.
Sove any 3 out of remaining five
3 Figures to the right indicates full questions.
4 Assume suitable data wherever marks.
necessary.
0.1 Answer anv four (20 Marks)
(a) Explain any five robot specifications / characteristics with their
(b) Define direct kinematics' & 'inverse appropriate units.
kinematics'.
(c) Define the terms 'path' & 'trajectory'. What is the difference between them?
(d) With a neat sketch explain a Generalized Voronoi Diagram (GVD).
(e) Describe corner point detection in robotic vision.

Q.2 (a) and


Develop the Denavit-Hartenberg (D-H) representation of afour axis sCARA robot
obtain an expression for the arm matrix. (10 Marks)
(b) Using inverse kinematics. derive the expressions for the joint angle variables
(Oi, 03, e:) for the three-link planar robotic arm manipulator as shown in Fig. 2.!
as below: (10 Marks)

Tool/End
EFFeetoy

ink 3
(L3)

Totnt
ink 2

Totnt (4)
- Toint
2

Fig. 2.1 -Two link planar robotic manipulator arm for Q.2 (b)
Q.3 (a) In detail, classify different types of robots based on : (10 Marks)
(i) The drive technology used
(i) The work envclope geometry
(iii) The motion control methods

(b) In detail. explain linear interpolated motion with parabolic blends with suitable
sketches & appropriate mathematical cxpressions as necessary. (10 Marks)
38278 Page 1 of 2

399A0CU74F9C3SBDF7958623D38121|E
Q.4 (u) Develop the direct kinematics solution for 2axis planar robot as shown in Fig, 4
bclow in order to compute the too/end effector position (P) given as P(x.

link 2 TooL/End Effector


(l2) P(39)
Joint

inkL
Joint (41)

Fig. 4.1 - Planar 2 axes robotic manipulator arm for Q.4 (a)

(b) What is image segmentation in robot vision? Explain thresholding &region


labeling. (10 Marks)

Q.5 (a) Describe the task planning simulation problem &explain with neat sketch
or case study. (10 Marks)

(b) Explain robot programming languages and its classification. (10 Marks)

Q.6 (a) Explain kinematic parameters in robotics with aneat sketch. Describe normal.
approach &sliding vectors witha neat sketch for the tool the end-effector.
(10 Marks)
(b) Evaluate the trajectory profile of position, velocity & acccleration for a l DOr
planar robotic manipulator as shown in Fig. 6.1 below such that the initial ang
position 6o = 10° &final angular position , = - 20° with a l second movet
from point Ato point B(t, = 0 & tr= l sec.). Assume yelocities at cach potm
zero (Vo =V=0 °/sec.) (10 Marks)

Initia! to=0 sec.


Position

Fixed
Base Trajectorg
Motfon Patthh

Final - lsec.
Pasition Sraneu b.Tap^cánner
Fig. 6.1 -1 DOF Planar Robotic Manipulator for Q.3
k********* ***** *** ***k

?8278 Page 2 of 2

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