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Robotics - Important Questions

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101 views2 pages

Robotics - Important Questions

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shadhajannath
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Important Questions for RAT 281 Basics of Robotics

Module I: Introduction to Robotics

- Define robotics and explain the classifications of robots (manipulators, mobile robots, aerial robots,

etc.).

- Describe the anatomy of a robotic manipulator, including links, joints, actuators, sensors, and

controllers.

- Differentiate between open kinematic and closed kinematic chains.

- Explain degrees of freedom and their significance in robotic systems.

- List the considerations for selecting a robot for an application (e.g., number of axes, work volume,

accuracy).

- Discuss various applications of robots in industrial and non-industrial fields such as medical,

mining, and defence.

Module II: Sensors and Actuators

- Classify sensors used in robotics and explain their applications.

- Differentiate between internal and external sensors in robots. Provide examples.

- Explain the components and functioning of a vision sensor.

- Compare electric, hydraulic, and pneumatic actuators in terms of advantages, disadvantages, and

applications.

- Explain the working principles of stepper motors and DC servo motors.

- Discuss the typical circuit of hydraulic and pneumatic actuators.

Module III: Robotic Configurations and End Effectors

- Explain the different robotic configurations (PPP, RPP, RRP, RRR) with examples.

- Highlight the features of SCARA and PUMA robots.

- Classify end effectors and explain their working principles (e.g., mechanical, magnetic, vacuum

grippers).
- Discuss the factors affecting the selection and design of grippers for robots.

- What is a 3R concurrent wrist? Explain its significance in robotics.

Module IV: Kinematics and Motion Planning

- What are homogeneous coordinates, and how are they used in robotics?

- Explain the D-H representation and its role in robotic kinematics.

- Derive the forward kinematics of a 3-DOF robotic manipulator using the D-H method.

- Differentiate between joint space and Cartesian space trajectory planning.

- Explain cubic polynomial trajectory planning and its advantages.

- Compare point-to-point and continuous path planning methods.

Module V: Dynamics and Control of Robots

- Discuss the construction of a servo-controlled robot with a 1R two-link chain.

- Derive the dynamic model of a 2R planar manipulator using Lagrange's equation.

- Explain the significance of transfer function and state-space representation in robotic control.

- Describe the working of a PID controller in robotic manipulators.

- Highlight the challenges posed by the nonlinear nature of robotic manipulators.

- Explain the importance of nonlinear control techniques in robotic systems.

General & Comprehensive Questions

- Write short notes on:

- - Robot operating environments

- - Repeatability vs precision in robots

- Solve a problem involving forward kinematics for a given robotic configuration.

- How do you select sensors and actuators for a specific robotic application?

- Discuss the integration of sensors, actuators, and controllers in a robotic system.

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