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Question Bank 5

The document discusses various aspects of robot kinematics and programming, including methods of robot programming such as lead through methods, textual robot languages, and mechanical programming. It explains concepts like teach pendants, joint movements, forward and reverse kinematics, trajectory planning, and degrees of freedom. Additionally, it covers topics like circular interpolation, manual lead through programming, and redundancy in robot design.

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Shrikant Yadav
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30 views2 pages

Question Bank 5

The document discusses various aspects of robot kinematics and programming, including methods of robot programming such as lead through methods, textual robot languages, and mechanical programming. It explains concepts like teach pendants, joint movements, forward and reverse kinematics, trajectory planning, and degrees of freedom. Additionally, it covers topics like circular interpolation, manual lead through programming, and redundancy in robot design.

Uploaded by

Shrikant Yadav
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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UNIT IV Robot kinematics and Robot Programming

Part-A Questions

1. What are the methods of robot programming?


Lead through methods
Textual robot languages
Mechanical Programming

2. What are the ways of accomplishing lead through programming?


Powered Lead through
Manual Lead through

3. What is teach pendant?


The teach pendant is usually a small handheld control box with combinations of
toggle switches,
dials and buttons to regulate the robot s physical movements and program capabilities.

4. What are the methods of teaching?


Joint movements
X-Y-Z coordinates motions
Tool coordinate motions

5. What is robot kinematics?


Forward kinematics
It is a scheme to determine joint angles of a robot by knowing its
position in the world coordinate system.

Reverse kinematics
It is a scheme to determine the position of the robot in the world
coordinate system by knowing the joint angles and the link parameters of
the robot.

6. What is trajectory planning?


It is defined as planning of the desired movements of the manipulator.

7. Define degrees of freedom.


The number of independent ways by which a dynamic system can
move without violating any constraint imposed on it, is called degree of
freedom. In other words, the degree of freedom can be defined as the
minimum number of independent coordinates which can specify the
position of the system completely.

8. Explain joint mode of teaching robots.


The teach pendant has a set of toggle switches (or similar controlled
devices) operate each joint either of it to directions until the endeffector
has been positioned to the desired point.

9. Explain the reasons for defining points in a program.


To define a working position for the endeffector
To avoid obstacles
10. What is position representation?
The position of the end of the arm may be represented by the two
joint angles q1 and q2.this is known as position representation.
Pj = (q1,q2)

11. Define servo controlled robots.


Servo controlled robots, which are programmed by lead through an
textual language methods tend to actuate all axes simultaneously.

12. What is circular Interpolation?


Circular Interpolation requires the programmer to define a circle in the robot s
workspace which is done by specifying three points that lie along the circle.

13. What are irregular smooth motions?


The segments in manual lead though programming are sometimes
approximately straight sometimes curved and sometimes back and forth
motions. These motions are called irregular smooth motions.

14. What is manual lead through programming?


In manual lead through programming the programmer moves the manipulated wrist to
teach spray-painting or arc welding. The movements consist of combination of smooth
motion segments.

15. Differentiate between Forward kinematics and reverse kinematics?


Forward kinematics:
1. Given the joint angles, determine the position and orientation of the end
effector
2. The outcome of the forward kinematics problem is always unique. There
are no multiple solution.

Inverse kinematics:
1. Given the position and the orientation of the end effector,
determine the numerical values for the joint variable.
2. This problem is not quite straight forward like the forward kinematic
problem
3. It is not possible to obtain closed form solutions due to the
non-linear simultaneous equations.

16. Explain redundancy?


Most industrial robots have 6 or less joints, thus, redundancy is not inherent to their
design. Some robots, though, do not have a certain joint arrangement in their final
orientation joints that can lead to redundancy for certain orientations.
For example, some robots have the final three joint axes (joints 4, 5 and 6 in a six axis Robot)
arranged in a roll, pitch, roll sequence.

17. What are the methods of robot programming?


1. Lead through methods
2. Textual robot languages
3. Mechanical programming

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