Set No

Code No: 420502

IV-B.Tech. II-Semester Examination April, 2003
ROBOTICS
1
(Computer Science and Engineering)
Time: 3 Hours Max. Marks: 80
Answer any Five questions
All questions carry equal marks
---

1.a) Define the term ‘ROBOT’ and describe the robot anatomy.
b) Explain the use of Newton-Euler equations of motion to a two link manipulator.

2.a) What are various motion controls in the control of robot arm?
b) Explain the model referenced adaptive control method.

3.a) Explain the principle of internal state sensor and external state sensor with one example
each.
b) Explain end effectors used as (i) grippers and (ii) tools.

4.a) Explain the syntactic methods of stereo imaging process.

b) Explain the principles of recognition technique.

5.a) Discuss the characteristics of Robot languages?

b) What are the basic elements of the robot language? Explain briefly.

6.a) Explain the following terms:

Configuration space, goal position, groups planning.
b) Consider the scene shown below. Suppose A is the mobile part and B and C are fixed
obstacles. Sketch the configuration-space induced by A using reference point r. consider the
mobile part orientation of φ = π/2.

7. With reference to work cell design briefly explain the following

a) Charges to other equipments in the cell
b) Part position and orientation in the cell
c) Part identification in the cell

Contd….2
Code No: 420502 -2- Set No.1
8.a) Name the different methods used to estimate the cycle time to perform a task by a robotic
system.
b) Explain parts tree method with a simple example to determine cycle time to perform an
assembly operation.

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 Set No
Code No: 420502
IV-B.Tech. II-Semester Examination April, 2003
ROBOTICS
(Computer Science and Engineering)
2
Time: 3 Hours Max. Marks: 80
Answer any Five questions
All questions carry equal marks
---

1.a) Describe with suitable examples, various motions of Robot arm.

b) Explain the use of Lagrange –Euler equations of motion to two link manipulator.

2.a) Derive and explain with a suitable sketch, open loop transfer function of a single joint robot
arm.
b) Explain the adaptive perturbation control strategy.

3.a) Explain the structured lighting approach for measuring range.

b) Define mechanical gripper. Explain the principle of mechanical gripper.

4.a) Distinguish between low level and high level vision.

b) Explain the principle and working of vidicon camera tube.

5.a) Explain the various capabilities and limitations of the robot languages.
b) Describe the following search techniques:
i) Depth-first search
ii) Breadth-first search
iii) Best-first search.

6.a) Explain the following terms:

Source position, reference point configuration space.
b) Consider the scene shown below. Suppose A is the mobile part and B and C are fixed
obstacles. Sketch the configuration-space induced by A using reference point r. consider the
mobile part orientation of φ = π/3.

7.a) Explain the functioning of mobile Robot cell implanted is assembly line.
b) “Overhead rail system of mobile Robot cell plays a vital role in heavy industries”. Justify
the statement with an example and neat sketch.

Contd……2
Code No: 420502 -2- Set No.2

8.a) Name few graphical simulation packages used for simulating the Robotic system?
b) Explain the features of a typical robotic simulation package

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 Set No
Code No: 420502
IV-B.Tech. II-Semester Examination April, 2003
ROBOTICS
3
(Computer Science and Engineering)
Time: 3 Hours Max. Marks: 80
Answer any Five questions
All questions carry equal marks
---
1.a) Describe the role of robots in engineering.
b) Explain the use of Generalized D-Alembert’s equations of motion.

2.a) Explain the principle of minimum time control with suitable example.
b) Discuss the main disadvantages of using the adaptive perturbation control.

3.a) Define the terms (i) Tactile sensors, (ii) Proximity sensors, (iii) Range sensors.
b) Classify the grippers based on contacting surface. Explain them.

4.a) Explain the principle of imaging geometry with two coordinate system.
b) Explain the syntactic methods used for recognition.

5.a) With the help of block diagram, explain the structure of robot language.
b) Write a LISP program to determine if one object is on top of another. Assume the locations
of the objects are in the form of a list (x,y,z) for each object x and y are equal for both parts
and z is greater for one than the other.

6.a) Explain the method for finding the shortest path using configuration space.
b) Consider the scene shown below. Suppose A is the mobile part and B and C are fixed
obstacles. Sketch the configuration-space induced by A using reference point r. consider the
mobile part orientation of φ = π/2.

7. With reference to work cell design briefly explain the following :

a) Protection of the Robot from its working environment.
b) Utilization of Robot in different tasks.
c) Control of the work cell co-ordination with computer.
d) Safety of the Robot in work cell.

8.a) What are the essential elements of a robotic controller?

b) Explain the various functions of a controller?

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 Set No
Code No: 420502
IV-B.Tech. II-Semester Examination April, 2003
ROBOTICS
4
(Computer Science and Engineering)
Time: 3 Hours Max. Marks: 80
Answer any Five questions
All questions carry equal marks
---
1.a) List out various robot arm categories and explain them with neat sketches.
b) Explain the principle of Newton-Euler formulation in robot arm dynamics.

2.a) Explain the feedback control of a single joint manipulator.

b) Explain the purpose of positional controller for a single joint manipulator.

3.a) Classify external state sensors and explain their principles.

b) Classify the grippers based on number of grasping devices. Explain them.

4.a) Explain the principle of segmentation.

b) Explain the principle of high level vision.

5.a) Explain the various motion commands used in the robot language.
b) Enumerate the advantages of using the LISP language in robot programming.

6.a) Discuss the important sub problems which must be addressed if a functional task planner is
to be implemented.
b) Consider the scene shown below. Suppose A is the mobile part and B and C are fixed
obstacles. Sketch the configuration-space induced by A using reference point r. Consider
the mobile part orientation of φ = π/3.

7. List the necessary parameters to be considered while carrying out work cell design of
a) Playback Robots with continuous path control.
b) Intelligent Robots.
c) Explain the above parameters in brief.
Code No: 420502 -2- Set No.4

8.a) What is called as interlock in robotic work cell design?

b) What are the purposes of using interlocks?
c) Explain briefly the following
(i) Input Interlock
(ii) Output Interlock

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