Robotics Assignment Questions based on Module 1 , 2, and 3:

2 marks :

1. Define articulated robots and provide one example of their application.

ANS: Articulated robots have rotary joints, allowing them to move with multiple degrees of freedom,
similar to a human arm. They typically have 4 to 6 axes for precise and flexible movements. These
robots are widely used in industrial automation, such as welding in automotive manufacturing. Their
adaptability makes them ideal for complex tasks requiring dexterity.

2. Explain what is Direct Kinematics and Inverse Kinematics.

ANS:

Direct Kinematics (DK): It involves calculating the position and orientation of a robot's end-effector
given its joint angles and link parameters. It determines where the robot's hand will be when joints
are set to specific values.

Inverse Kinematics (IK): It is the process of determining the required joint angles to achieve a desired
position and orientation of the end-effector. It is used to control robotic arms to reach specific
targets in space.

3. What is meant by the "work envelope" of a robot?

The work envelope of a robot is the three-dimensional space within which it can operate and
manipulate objects. It is determined by the robot's design, joint limits, and arm reach. A larger work
envelope provides greater flexibility for tasks. Different robot types, like articulated or SCARA, have
distinct work envelopes.

4. How does the joint configuration of a robot affect its workspace?

Effect of Joint Configuration on Workspace:

The joint configuration determines a robot’s range of motion, flexibility, and reach within its
workspace. Robots with more degrees of freedom (DOF) can access complex positions and
orientations. Constraints like joint limits and mechanical design can restrict movement. Different
configurations, such as Cartesian, SCARA, or articulated, impact the shape and size of the workspace

5. How do multiple solutions arise in inverse kinematics?

Multiple Solutions in Inverse Kinematics:

Inverse kinematics (IK) can have multiple solutions because a robot arm can reach a target position in
different ways. This happens due to redundant joints, symmetric limb movements, or alternative
joint angle combinations. Some solutions may be more efficient, avoiding singularities or joint limits.
Selecting the best solution depends on factors like energy efficiency and obstacle avoidance.

6. What is the role of homogeneous coordinates in robot kinematics?

Homogeneous coordinates simplify the mathematical representation of transformations (translation,

rotation, and scaling) in robotics. They allow 3D transformations to be expressed using 4x4 matrices,
making complex kinematic calculations easier. This method ensures consistent transformation
operations for robotic arms. It is essential for deriving forward and inverse kinematics efficiently
7. What is the significance of link lengths in robot specifications?

Link lengths define the reach and workspace of a robot, determining how far its end-effector can
extend. They impact the kinematic equations used for position and motion planning. Longer links
increase the work envelope but may reduce precision and stability. Optimized link lengths are crucial
for achieving balance between reach, flexibility, and accuracy in robotic applications.

8. What is the tool center point (TCP) and why is it important in robot kinematics?

The Tool Center Point (TCP) is the precise point on a robot’s end-effector that interacts with the
environment, such as a welding tip or gripper center. It is crucial in robot kinematics because all
movement and path planning calculations are based on the TCP position. Accurate TCP calibration
ensures precise operations, minimizing errors in tasks like assembly, painting, or cutting.

9. What is meant by the "workspace" of a robot?

The workspace of a robot is the total volume or area within which its end-effector can move and
operate. It depends on factors like joint types, link lengths, and degrees of freedom. A larger workspace
increases task flexibility, while constraints like mechanical limits and singularities define its practical
boundaries. Different robots (Cartesian, SCARA, articulated) have distinct workspaces suited to specific
applications.

10.How does the structure of a robot affect its workspace?

The structure of a robot, including its joint types (revolute or prismatic), link lengths, and degrees of
freedom, determines the shape and size of its workspace. Robots with more flexible joints, like
articulated arms, have larger and more complex workspaces, while Cartesian robots have limited but
highly precise linear workspaces. Mechanical constraints, joint limits, and singularities also influence
the effective working area.

11. Define a coordinate frame in robotics.

A coordinate frame in robotics is a reference system used to define the position and orientation of a
robot or its components in space. It typically consists of an origin and three perpendicular axes (X, Y,
Z) in 3D space. Coordinate frames help in defining transformations, motion planning, and object
manipulation within a robot’s environment.

12.Why is it important to use coordinate frames in robotics?

Coordinate frames provide a standardized way to describe the position and orientation of a robot and
its components. They help in defining transformations, enabling precise motion planning and control.
Using multiple coordinate frames simplifies kinematic calculations and ensures consistency in robotic
tasks. This is essential for applications like object manipulation, navigation, and multi-robot
coordination.

13.Describe a revolute joint and give one example of its use in robotics.

A revolute joint allows rotational movement around a fixed axis, similar to a hinge. It provides angular
motion, making it essential for articulated robots. An example is the elbow joint in a robotic arm, which
enables bending and positioning the end-effector for tasks like welding, assembly, or material
handling.
14.What is the difference between a prismatic joint and a revolute joint?

A prismatic joint allows linear motion along a single axis, enabling extension and retraction (e.g., a
hydraulic piston). In contrast, a revolute joint provides rotational movement around a fixed axis, like a
hinge (e.g., a robot arm elbow). Prismatic joints are used for precise linear positioning, while revolute
joints enable flexible angular motion.

15.What does the term "payload" mean in a robot specification?

Payload refers to the maximum weight a robot can carry, including tools and objects, without
compromising performance. It is a key factor in selecting a robot for applications like material handling,
welding, or assembly. Exceeding the payload limit can reduce accuracy and damage the robot.

16.Explain what is meant by "degrees of freedom" in a robotic system.

Degrees of Freedom (DOF) refer to the number of independent movements a robot can make. Each
joint adds one DOF, allowing motion in different directions. A robot with six DOF can fully control
position and orientation in 3D space. Higher DOF increases flexibility but requires more complex
control.

5 marks :
1. Describe the key components of a robotic system. Explain the roles of sensors, actuators,
controllers, and end-effectors in the functioning of a robot.

ANS:

Key Components of a Robotic System:

A robotic system consists of several essential components that work together to perform tasks
efficiently. The key components are:

1. Power Supply – Provides the necessary energy for the robot to operate, using electricity,
batteries, or hydraulic/pneumatic sources.

2. Sensors – Collect data from the environment to help the robot perceive its surroundings and
make decisions.

3. Actuators – Convert control signals into physical motion, enabling the robot to move its joints
and perform tasks.

4. Controllers – Act as the brain of the robot, processing inputs from sensors and sending
commands to actuators.

5. End-Effector – The tool or device at the robot’s end used to interact with objects, such as
grippers, welding torches, or suction cups.

6. Mechanical Structure – Includes links and joints that define the robot’s movement capabilities
and workspace.

7. Communication System – Allows interaction with other systems, computers, or networks for
coordination and remote control.

Roles of Key Components in Robot Functioning:

 1. Sensors:

o Gather real-time data on position, distance, force, temperature, and vision.

o Help in navigation, object detection, and environmental awareness.

o Example: Vision sensors enable robots to recognize and manipulate objects.

2. Actuators:

o Convert electrical or hydraulic energy into motion.

o Drive the robot’s limbs, wheels, or end-effectors for movement.

o Example: Servo motors in robotic arms enable precise control of joint angles.

3. Controllers:

o Process sensor data and determine appropriate actions.

o Send signals to actuators for executing movements.

o Example: A microcontroller in an autonomous robot ensures smooth navigation.

4. End-Effector:

o Interacts with objects to complete tasks.

o Can be customized for applications like gripping, welding, or painting.

o Example: A robotic gripper in an assembly line picks and places objects efficiently.

These components work together to ensure a robot functions effectively, adapting to different
environments and tasks.

2. What factors should be considered when specifying a robot for an industrial application? Discuss
the importance of payload capacity, reach, precision, speed, and degrees of freedom in robot
specification.

ANS:

Factors to Consider When Specifying a Robot for an Industrial Application:

When selecting a robot for an industrial application, several key factors must be considered to ensure
efficiency, reliability, and cost-effectiveness. These factors include:

1. Payload Capacity – The maximum weight the robot can handle, including tools and
workpieces.

2. Reach – The maximum distance the robot’s end-effector can extend within its workspace.

3. Precision and Accuracy – The ability of the robot to repeat movements with minimal
deviation.

4. Speed – The rate at which the robot can perform tasks, affecting production efficiency.

5. Degrees of Freedom (DOF) – The number of independent movements the robot can make.

6. Work Environment – Factors like temperature, dust, humidity, and safety requirements.
 7. Control System and Programming – The ease of programming and integration with existing
systems.

8. Power Requirements – Whether the robot uses electrical, hydraulic, or pneumatic power.

9. Cost and Maintenance – The total cost of ownership, including installation, repairs, and
upgrades.

Importance of Key Specifications in Industrial Robots:

1. Payload Capacity:

o Determines how much weight the robot can handle.

o Essential for applications like material handling and welding.

o Exceeding the limit can lead to decreased accuracy and potential damage.

2. Reach:

o Defines the workspace size and ability to access different points.

o Important for tasks requiring extended movement, such as painting or assembly.

o A longer reach increases flexibility but may reduce precision.

3. Precision and Accuracy:

o Ensures consistent and repeatable operations, reducing errors.

o Critical in applications like electronics assembly and medical robotics.

o High precision improves product quality and minimizes waste.

4. Speed:

o Affects productivity and cycle time in manufacturing.

o Fast robots improve efficiency but may require advanced safety measures.

o Balance between speed and accuracy is crucial for delicate operations.

5. Degrees of Freedom (DOF):

o Determines the flexibility of movement and ability to reach complex positions.

o A robot with six DOF can manipulate objects in 3D space with full control.

o More DOF increases versatility but also requires complex programming.

Selecting the right combination of these factors ensures that the robot meets industrial requirements
efficiently and cost-effectively.
3. Discuss the different types of joints used in robotic arms. Describe the working principle of a
revolute joint and a prismatic joint, providing examples of where each type is used in practical
robotic systems.

ANS:

Types of Joints Used in Robotic Arms:

Robotic arms consist of various types of joints that provide flexibility and movement. The main types
of joints include:

1. Revolute Joint (Rotary Joint) – Allows rotational motion around a fixed axis.

2. Prismatic Joint (Linear Joint) – Enables straight-line motion along a single axis.

3. Cylindrical Joint – Provides one linear and one rotational movement.

4. Spherical Joint (Ball-and-Socket Joint) – Allows rotation in multiple directions.

5. Planar Joint – Enables motion in a flat plane with two translational and one rotational
movement.

6. SCARA Joint – A combination of revolute and prismatic joints, allowing selective compliance
in robotic assembly.

Working Principle of a Revolute Joint and a Prismatic Joint:

1. Revolute Joint (Rotary Joint):

• Working Principle:

o A revolute joint allows rotational motion around a fixed axis, similar to a hinge.

o It is controlled by actuators, such as servo motors or hydraulic systems, which adjust

the angle of rotation.

o The joint enables angular movement, allowing robots to bend and rotate their arms.

• Example of Use:

o Found in robotic arms used in welding, pick-and-place operations, and industrial

automation.

o Example: The elbow joint of a robotic arm, which allows bending and reaching
different positions.

2. Prismatic Joint (Linear Joint):

• Working Principle:

o A prismatic joint provides linear motion along a single axis, enabling extension and
retraction.

o It is driven by hydraulic, pneumatic, or electric actuators to achieve precise

movement.
 o This joint is crucial for tasks requiring straight-line motion.

• Example of Use:

o Commonly used in robotic grippers, conveyor systems, and vertical lifting

mechanisms.

o Example: The sliding motion in a CNC machine or robotic palletizing system.

Both joint types play a vital role in designing robots with diverse movement capabilities, allowing
them to perform tasks efficiently in industrial applications.

4.Explain the concept of coordinate frames in robotics. Discuss how coordinate transformations
are used to represent the position and orientation of a robot’s end-effector in a 3D space.

ANS:

Concept of Coordinate Frames in Robotics:

In robotics, a coordinate frame is a reference system used to define the position and orientation of a
robot or its components in space. It consists of:

• An origin (0,0,0) as a reference point.

• Three perpendicular axes (X, Y, Z) defining the spatial directions.

• A rotation system that determines the orientation of the frame.

Robots use multiple coordinate frames to represent different parts, such as the base, joints, and end-
effector. These frames help in tracking movement, controlling motion, and performing precise tasks
like pick-and-place or welding.

Coordinate Transformations in 3D Space:

Coordinate transformations allow robots to calculate and adjust the position and orientation of their
end-effector as they move. The two main types are:

1. Translation:

o Shifts the position of a frame along the X, Y, or Z axis.

o Represented using a translation matrix in homogeneous coordinates.

2. Rotation:

o Changes the orientation of a frame around an axis (X, Y, or Z).

o Represented using rotation matrices or Euler angles.

3. Homogeneous Transformation Matrix (4×4 Matrix):

o Combines translation and rotation into a single matrix.

o Helps compute the new position and orientation of the end-effector in world
coordinates.

Example of Application:
 • In a robotic arm, coordinate transformations help determine the exact location of the gripper
when moving from the base to a target object.

• Used in inverse kinematics, allowing the robot to reach desired positions while avoiding
obstacles.

By using coordinate frames and transformations, robots can navigate and perform complex tasks
with high precision in 3D space.

5. Define the term "workspace" in robotics. Discuss how the joint configuration and the number of
degrees of freedom affect the size and shape of a robot’s workspace.

ANS:

Definition of Workspace in Robotics:

The workspace of a robot is the total volume or area within which its end-effector can move and
perform tasks. It is determined by the robot’s mechanical structure, joint types, and motion
capabilities. The workspace is typically classified into:

• Reachable Workspace: The entire region that the end-effector can access.

• Dexterous Workspace: The subset of the workspace where the end-effector can move in all
possible orientations.

Understanding a robot’s workspace is crucial for designing automation processes, ensuring that the
robot can reach and manipulate objects effectively.

Effect of Joint Configuration and Degrees of Freedom on Workspace:

1. Joint Configuration:

o Revolute Joints (rotational) provide a curved or spherical workspace.

o Prismatic Joints (linear) create a box-like or cylindrical workspace.

o Hybrid Joints (combining both types) offer more complex workspaces, such as
SCARA or articulated robots.

2. Number of Degrees of Freedom (DOF):

o More DOF increases flexibility and allows the robot to access a larger and more
complex workspace.

o A 6-DOF robotic arm can position its end-effector anywhere in 3D space with full
orientation control.

o A 2-DOF robot has a limited, planar workspace and can only move in a restricted
area.

Example:

• A Cartesian robot with prismatic joints has a rectangular workspace, ideal for precise linear
tasks.
 • An articulated robot with multiple revolute joints can reach around obstacles and cover a
larger, more flexible workspace.

Thus, optimizing the joint configuration and DOF is essential for designing robots suited to specific
industrial applications.

6.Provide an overview of the key applications of robots in manufacturing and medical fields.
Discuss how robots are used to enhance productivity and precision in these sectors.

ANS:

Overview of Key Applications of Robots in Manufacturing and Medical Fields

1. Manufacturing Applications:

Robots are widely used in manufacturing to automate repetitive and high-precision tasks, improving
efficiency and safety. Key applications include:

• Assembly Line Automation – Robots assemble products with high speed and accuracy (e.g.,
automotive and electronics manufacturing).

• Welding and Painting – Industrial robots ensure consistent quality in welding and painting
tasks.

• Material Handling – Robots transport, load, and unload materials, reducing human labor and
increasing efficiency.

• Quality Inspection – Vision-guided robots detect defects and ensure product consistency.

2. Medical Applications:

Robots play a critical role in modern healthcare by enhancing precision and improving patient
outcomes. Common uses include:

• Surgical Robots – Used in minimally invasive surgeries (e.g., the da Vinci surgical system) for
precise and controlled operations.

• Medical Assistance Robots – Help in patient care, rehabilitation, and elderly assistance.

• Pharmaceutical Automation – Robots handle drug packaging, dispensing, and lab automation
for increased safety.

• Diagnostic Robots – AI-powered robotic systems assist in medical imaging, diagnostics, and
lab testing.

How Robots Enhance Productivity and Precision in These Sectors

1. Manufacturing Sector:

o Increased Productivity: Robots work continuously without fatigue, boosting

production rates.

o Higher Precision: Automated systems ensure accurate assembly, reducing errors and
waste.

o Cost Efficiency: Reduces labor costs and enhances efficiency in repetitive tasks.
 o Safety Improvement: Minimizes human exposure to hazardous environments.

2. Medical Sector:

o Enhanced Precision: Robots perform delicate surgeries with sub-millimeter accuracy,

reducing risks.

o Minimally Invasive Procedures: Smaller incisions lead to faster recovery times.

o Consistency in Healthcare Services: Robots in labs and pharmacies eliminate human

errors in drug dispensing and diagnostics.

o Remote Surgery and Telemedicine: Surgeons can operate remotely using robotic
systems, improving accessibility to advanced medical care.

By integrating robotics, both manufacturing and medical fields achieve higher efficiency, accuracy,
and safety, transforming industries and improving overall quality of work.

7.Explain the concept of direct kinematics in robotic systems. Discuss how rotation and translation
matrices are used to determine the position and orientation of a robot’s end-effector, including the
use of homogeneous coordinates.

ANS:

Concept of Direct Kinematics in Robotic Systems

Direct kinematics refers to the process of determining the position and orientation of a robot’s
end-effector based on the given joint parameters (angles for revolute joints and displacements for
prismatic joints). It uses the known structure of the robot and its joint transformations to compute
the final pose of the end-effector in space.

Direct kinematics is essential for motion planning, path optimization, and control in robotics. The
Denavit-Hartenberg (D-H) convention is commonly used to systematically represent the link and
joint relationships.
 8.What is inverse kinematics, and why is it important for robot control? Discuss the methods
used to solve inverse kinematics problems for 3-axis and 4-axis robots, including an example
for each.

ANS:

Inverse kinematics (IK) is the process of determining the joint angles required to position a robot's
end-effector at a desired location and orientation in space. Unlike direct kinematics, which computes
the end-effector’s position from joint values, IK solves for joint values given a target position.
IK is essential in robot control for:

• Trajectory planning: Ensuring smooth motion from one point to another.

• Obstacle avoidance: Finding joint angles that avoid collisions.

• Task execution: Ensuring precise positioning in applications like welding, pick-and-place, and
assembly.

Methods for Solving Inverse Kinematics

IK problems are generally nonlinear and may have multiple solutions or no solution at all,
depending on the robot’s configuration. There are analytical and numerical approaches to
solving them.

1. Analytical Methods (Closed-form solution)

• Used when the mathematical equations can be directly solved.

• More efficient but applicable to simpler robots (e.g., 3-axis or 4-axis arms).

• Uses trigonometry and algebraic equations to derive joint angles.

2. Numerical Methods (Iterative solution)

• Used for complex robots with six or more DOF.

• Involves iterative techniques like the Jacobian inverse method and gradient descent.

• Slower but can handle highly redundant robots.

9. Explain the concept of work envelope in robotic systems. Discuss how workspace analysis is
conducted for 3-axis and 4-axis robots, and how factors like joint limits and link lengths influence
the work envelope.

ANS:

Concept of Work Envelope in Robotic Systems

The work envelope of a robot is the three-dimensional space within which its end-effector can
operate. It represents the maximum reach of the robot, defined by the mechanical limits of its joints
and links. The work envelope is crucial in determining the robot’s capability for specific tasks, such as
welding, assembly, or pick-and-place operations.

Types of Work Envelopes:

• Cartesian Robots → Rectangular work envelope

• SCARA Robots → Cylindrical work envelope

• Articulated Robots → Spherical or irregular work envelope

• Delta Robots → Dome-shaped work envelope

Workspace Analysis for 3-Axis and 4-Axis Robots

1. Workspace Analysis for a 3-Axis Robot (Planar Robot Arm)

A 3-axis robot typically consists of two revolute joints and one end-effector. Its workspace is
determined using:

• Link lengths (L₁, L₂): Define the maximum and minimum reach of the arm.

• Joint angle limits: Restrict the range of motion.

 • Reachable workspace: Forms a circular or semi-circular area.

2. Workspace Analysis for a 4-Axis SCARA Robot

A 4-axis SCARA robot has:

• Two revolute joints for planar motion

• A prismatic joint for vertical movement

• A fourth joint (wrist rotation) for orientation

Its workspace is cylindrical with height controlled by the prismatic joint. Factors affecting its work
envelope:

• Arm length: Determines radial reach.

• Joint rotation limits: Restricts movement in the horizontal plane.

• Vertical stroke: Limits movement in the z-direction.

Example: A SCARA robot with L₁ = 15 cm, L₂ = 10 cm, and a vertical stroke of 5 cm has a cylindrical
workspace extending 25 cm radially and 5 cm in height.

Factors Influencing the Work Envelope

1. Joint Limits: If a revolute joint rotates only 0° to 180°, the workspace is restricted.

2. Link Lengths: Shorter links reduce reach, while longer links increase workspace.

3. Collision Constraints: The robot’s body or surrounding obstacles may limit movement.

4. End-Effector Size: A larger tool may restrict access to tight spaces.

10.Obtain inverse kinematic analysis of a 2 axis planar robot as shown in fig.

ANS: