| | i G- 1168 ETC 8-(E Ill) 4(RC) (Total No. of Questions: 8) B.E. (ETC) (Semester - VIII) Examination, May/June - 2011 (E-III) INTRODUCTION TO ROBOTICS Duration : 3 Hours Total Marks : 100 Instructions : J) Answer any Five questions with at least one question from each Module. 2) Draw neat sketches wherever necessary. 3) Assume suitable data if required. MODULE -I QI) a) What do you understand by Robot anatomy. Discuss four basic Industrial Robot configurations. [10] b) Discuss the concepts of spatial resolution, Accuracy and Repeatability with respect to movement of the robot. (6) c) Explain the term compliance of robot manipulator. [4] 2) a) Forthe following robot wrist notations, describe the particular wrist configuration using sketches. (5] i) sR ii) RT iii) TRT Analyse the difference in the capability of 3 wrist configuration to position and orient an end effector. b) Explain Hydraulic drive system with neat block diagram. m ©) With neat sketches explain. 18] i) Pivoting and parallel motion of grippers. ii) Different gripper mechanisms. MODULE - II Q3) a) What do you mean by internal state sensors and external state sensors. Explain 2 tactile sensors. 18] b) How are absolute encoders different from incremental encoders. Explain. [8] ~~) Discuss Velocity Sensor. 1 4 9) What do you understand by trajectory planning and discuss two strategies used and compare them, 81 b) Discuss how to select motor for continuous and intermittant operation. Explain with an example motion, Bi ©) Explain with neat sketch one slip sensor. oT PIO.G-1168 2 ETC 8-(E Il) 4(RO) 5) a) Discuss two methods of Robot programming. [5] 5) Explain four motion interpolation scheme used in Robotics. [3] c) What is teach pendant? List down the basic teach pendant functions. 7] 26) a) Draw the block diagram of Robot system showing various components that must yp be coordinated by means ofa language. Also explain the purpose of robot language operating systems, {8} b) Discuss various motion commands used in Robot language. {8} ©) What are aggregates and location variables give an example. [4] MODULE - IV 7) a) Explain CCD as image sensor. a] b) Discuss different segmentation techniques in image processing. {6] ©) What do you understand by feature extraction. Give one example. i ty Q8) a) What are key issues for locomotion. Iq + b) Compare wheeled Robots and Legged robots. (6) c) Write short notes on: [8] i) Bug algorithm. ii) Vector field histogram.A thant ETC 8 (E-IIl) 4 (RC) B.E. (ETC) (Sem. — Vill) (RC) Examination, May/June 2012 INTRODUCTION TO ROBOTICS (Elective — II!) Duration : 3 Hours Total Marks : 100 Instructions : 1) Attempt any five questions selecting at least one from each 2 Dees ‘sketches wherever necessary. (= 3 3) Assume suitable data it required. (2 aay) MODULE -1 ac F 1. a) Forthe following symbols, sketch the corresponding robot configuration and describe each of them = i) TRL i) TLL itt) UL b) What do you mean by the term ‘degree of freedom’ ? Explain the various types of joints used in robots. 7 ¢) What are playback robots ? Compare point-to-point control robots with continuous path control robots. 7 2. a) Compare hydraulic drives with pneumatic drives used in robots. 4 b) With the help of a schematic and control system block diagram, explain the design of a typical robot joint. 10 ¢) Discuss the terms control resolution and accuracy for a robot. For a 1-DOF robot with one sliding joint, determine the control resolution if the robot has a control memory of 10 bits storage. 6 MODULE - II 3. a) Explain the consiruction and working of a force-sensing wrist which can measure upto 6 components of force/torque. Whats it used for 7 8 5} Discuss DC servomotors and their applications. Draw the control system block diagram. Compare with stepper motors on at least two aspects. 8 ¢) Explain what you mean by trajectory planning. 4 PTO.ETC 8 (E-Il) 4 (RC) I 4. a) Discuss the various kinds of proximity and range sensors. Mention their applications. b) With aneat sketch explain the operation and use of a potentiometer. How are optical encoders different from a potentiometer ? c) What are tactile array sensors ? Discuss any one application of these sensors. MODULE - Il 5. a) Compare the two lead through programming methods and mention their applications. b) Explain WAIT, SIGNAL and DELAY commands used in robot programming with examples. ) List the various items and their functions of the teach pendant of a MAKER robot system. a) Discuss the various end-effector and sensor commands used in robot languages. b) Discuss the three modes of operation of a robot language operating system. c) Describe the VAL II language in brief. What are the commands for defining locations in VAL II? 2 MODULE - IV 7. a) Discuss the following techniques used in image processing : i) image data reduction ii) thresholding. b) List the basic features and measures for object identification for 2-D objects. cc) Explain four basic illumination techniques used in machine vision, with sketches. 8. a) Discuss the configurations of legged mobile robots and their stabitity. What are two advantages over wheeled robots ? b) Write short notes on : i) Locomotion mechanisms in biological systems. ii) Cell decomposition path planning. lil) Bugt and Bug2 algorithms. (44444212)ETC 8-(E-IIl) - 4(RC) B.E. (ETC) (Semester — Vill) (RC) Examination, May/June 2015 (E-Ill) INTRODUCTION TO ROBOTICS Duration : 3 Hours Total Marks : 100 Instructions: 1) Answer any five questions. 2) Assume any additional data, ifnecessary. 1. A) Discuss 4 basic industrial robot configurations. What is work volume ? e Comment on the shape of work volume of the 4 basic configurations. 2 b) Explain pneumatic drive system with neat block diagram. What are its advantages over hydraulic drive ? 8 2. A) With the help of a schematic and control system block diagram, explain the design of a typical robot joint. 10 b) Discuss the factors which influence the spatial accuracy of a robot. 4 c) Write short notes on: 6 a) Tools used as end effectors b) Vacuum grippers. 3. A) What are the advantages and disadvantages of electric drive system fora robot. 4 j b) What do you understand by trajectory planning ? Discuss two strategies used and compare them. 8 c) What do you understand by revolute and prismatic drives ? Draw a neat sketch for each. 2 d) ADC tachometer is to be used as the velocity feedback device on a certain il twisting joint. The joint actuator is capable of driving the joint at a maximum velocity of 0.75 rad/s and the tachometer constant is 8.0 V/rad/s. What is the maximum output voltage that can be generated by the device, if the tachometer is geared with joint so that it rotates with twice the angular velocity of the joint ? If the joint rotates at a speed of 25°/s, determine the output voltage of the DC tachometer. PTO.ETC 8-E-IIl) - 4(RC) advantages over stepper motor? b) A stepping motor is to be used to activate one joint of a robot arm in alight duty pick and place application. The step angle of the motor is 10°. For each pulse received from the pulse train source, the motor rotates through a distance ofone step angle. a) Whatis the resolution of the stepping motor ? b) How many pulses are required to rotate the motor throu complete revolutions ? | | 4. A) With neat diagram explain working of a servo DC motor. What are its igh a total of three | ¢) It itis desired to rotate the motor ata speed of 25r/min, what should be @ | the pulse rate ? | ¢) Discuss the various kinds of proximity and range sensors. Mention their applications. 8 5. A) Explain in detail the limitations of lead through method. 6 b) Whatis teach pendant ? List down the basic teach pendant functions. 7¢ ) Explain Wait, Signal and Delay commands usedin robot programming with examples. 7 6. A) Discuss the various program control and subroutine commands used in robot languages. 6 , b) Write a short note of REACT commands. 40 h ¢) A robot loads and unloads part in an inspection machine which grades the parts into 3 categories : excellent, acceptable and unacceptable. The robot must signal the machine that the part has been loaded and the machine must signal back that the inspection process is completed. It also indicates to the Ay robot which of the 3 categories applies for the part inspected. The robot KES — the parts post inspection and puts them in 3 different bins separated by 0.5m. Write a robot program to accomplish this procedure. 10minis ETC 8-(E-Ill) — 4(RC) 7. A) Discuss the following techniques used in image processing 8 a) Edge Detection b) Thresholding b) Write a note on sensing and digitizing image data. 8 c) What is feature extraction 2 List some of the basic features used for object identification, . 8. A) Write short notes on : * a) Bug1 and Bug2 algorithms. b) Vector field histogram. b) Compare wheeled robots and legged robots. 6 C) With neat diagrams, discuss the various configurations of wheeled robots. Compare them on stability, maneuverability and controllability. 6(N08 0 0 ETC 8 - (E-IIl) 4(RC) B.E. (ETC) (Semester — Vill) (RC) Examination, Nov./Dec. 2015 (E-IIl) INTRODUCTION TO ROBOTICS Duration : 3 Hours Total Marks : 100 Instructions : 1) Answer any five questions. 2) Assume any additional data, it necessary. a) Write the joint notation scheme for the 4 basic robot configurations. 2 b) Arobotcan travel longer distances in shorter time than several short distances covering the same distance. True or False ? Justify your answer. 4 c) What are limited sequence robots ? Compare point-to-point control robots with continuous path control robots. 8 @) The telescoping arm of a certain industrial robot obtains its vertical motion by rotating about a horizontal axis. The total range of rotation is 90°. The robot possesses a 12-bit storage capacity for this axis. When fully extended the measures 1.5 m from pivot point whereas when fully retracted the arm measures 90 cm. Determine the robots control resolution for this axis in degrees of rotation and on a linear scale when fully extended and fully retracted, 6 a) With the help of neat diagrams explain the working of following mechanical grippers. 8 a) Linkage type b) Gear and rack c) Cam actuation d) Screw actuation b) Explain with a neat block diagram control loop utilizing a voltage amplifier. What are its advantages and disadvantages ? 7 a c) Discuss any 5 considerations in gripper design and selection. a) Howare servo DC motors different from DC motors ? Draw the control system block diagram for a DC servomotor and compare with stepper motors on at least two aspects. b) Explain what you mean by trajectory planning. c) How are absolute encoders different from incremental encoders ? Explain. ) List any 4 desirable features of sensors. PuranaETC 8 — (E-IIl) 4(RC) 4. a) b) c) b) What are acoustic sensors ? Give an example and discuss its applications Write short notes on : a) Touch Sensor b) DC Tachometer Explain 4 motion interpolation schemes used in robotics. Write a short note on monitor mode commands. Usign a 8 x 8 square grid, show the path taken by a Cartesian coordinate robot if it is directed to move between following sets of points in grid using linear interpolation. (assume left down comer of grid to be the origin). a) Point(1, 1) to point (6, 6) b) Point (2, 1) to point (8, 2) c) Point (2, 2) to point (7,5) d) Point (0, 0) to point (1, 8) Discuss the various motion commands used in robot languages. Write a robot program to pick parts off a conveyor and load them into a pallet that is about 30 cm from the pickup point. A sensor is used to locate the parts in known position for pickup. The parts are to be arranged in a 3x4 pattern, 40 mm apart in both directions in stacks of 3. The two directions are assumed to be parallel to the x and y world coordinates axes of the robot respectively. With a neat diagram explain the working of a CCD image sensor. Write a note on lighting techniques. Consider a vision system which provides one frame of 256 lines every 0.5 s. The system is a raster scan system. Assume that the time for the electron beam to move from one line to the next line takes 15% of the time to scan a single line. Determine the sampling rate for the system if it is specified that there will be 320 pixels on each line. Discuss the configurations of legged mobile robots and their stability. What are the two advantages over wheeled robots ? Write short notes on : a) Bug algorithm b) Road map path planning c) Draw the block diagram and briefly explain the basic control scheme for autonomous mobile robots. With the help of neat diagram explain the working of any 2 velocity sensors 12‘000000 0 0 ETC/ECE 8-(E- Ill) 4 (Re) BE. (ETC/ECE) (Semester - vit) (RC) Examination, May/June 2016 (E - Ill) INTRODUCTION To ROBOTICS Duration : 3 Hours Total Marks : 100 Instructions : 1) Answerany five. each Module. 2) Assume any additional data, if necessary. ‘questions with at leastone question from MODULE -| 1. 2) Explain and differentiate between the different types of automation and give an example of each. 6 5) With a neat block diagram explain the pneumatic drive system, 6 ©) With neat sketches explain all the basic joint types 8 2. a) Forthe following symbols, sketch the corresponding robot configuration and | describe each of them 6 i) TL ii) VAT iil) LR 5) What do you understand by “degrees of freedom" ? How many types of degrees of freedom are there ? Explain with neat sketch. 7 ¢) Explain with a block diagram control loop utilizing a current amplifier. What are its advantages and disadvantages ? it MODULE-~II 3. a) With neat sketch explain the working of a stepper motor. Whats halfstepping? 6 b) A motor has a torque constant of 5 Nm/A and a voltage constant of 12 v/Kr/min (1 kr = 1000 rev). The armature resistance is 3 Q. The motor is mated to a3: 1 gearbox. If 36 V is applied to the terminals what would be i) the torque at 0 rev/min ii) speed at 0 load iii) torque at 1000 rpm. 8 c) Whatare tactile array sensors ? Discuss any one application of these sensors. 6 P.T.O.ETC/ECE 8 - (E - Ill) 4 (RC) - 4. a) The task of choosing a sensor for a rotary robot joint has been given to you. The sensor has to be accurate with no ambiguity and should have long life. Costis nota factor. Itis essential that robot can start from the current location in case of power failure. Choose and explain the working of an appropriate sensor and justify your answer. b) How are servo DC motors different from DC motors ? Draw the control system block diagram for a DC servomotor and compare with stepper motors on at least two aspects. ¢) What do you understand by trajectory planning ? Discuss two strategies used and compare them. MODULE - III 5. a) Write a short note of REACT commands. b), A robot loads and unloads part in an inspection machine which grades the Parts into 3 categories: excellent, acceptable and unacceptable. The robot must signal the machine that the part has been loaded and the machine must signal back that the inspection process is completed. It also indicates to the robot which of the 3 categories applies for the part inspected. The robot takes the parts post inspection and puts them in 3 different bins separated by 0.5m. Write a robot program to accomplish this procedure. 6. Two different style work parts travel down a conveyer and are positioned in a robot workstation for a certain processing operation. Two photocells are used to indicate that work parts have arrived in the workstation and to distinguish between the two styles. The operation of the photocells is as follows. The first photocell is actuated (on) when the part has arrived and is registered in place. The second photocell is actuated when part style A is located in place in the workstation and not actuated when style Bis placed in the station. Using appropriate commands write a robot program that will.call either of the two Processing subroutines depending on which part is placed. The.two subroutines are called by the statements CALL ASTYLE and CALL BSTYLE. Identify any other interlock and Sensor requirements and incorporate them in your Program. The program should repeat continuously. 16a a {A000 0 a - ETCIECE 8 - (E- Ill) 4 (RC) MODULE - Iv 7. a) List the basic teatures and measures for object identification for 2D objects. 4 b) Discuss the following techniques used in image processing i) Edge Detection ii) Thresholding. . C) With a neat diagram explain the working of a CCD image sensor, 8 8. a) With aneat block diagram explain basic control scheme for autonomous mobile robots. 6 b) With neat diagrams, discuss the various configurations of wheeled robots. Compare them on stability, maneuverability and controllability. 8 ¢) With neat sketches explain Bug 1 and Bug 2 algorithms.aL ETC/ECE 8 (E-II) - (4) (RC) B.E. (ETC/ECE) (Semester ~ Vill) (RC) Examination, May/June 2017 (E - Ill) INTRODUCTION TO ROBOTICS Duration : 3 Hours Max. Marks : 100 Instructions: 1) Answer any five questions with at least one question from each Module. 2) Assume any additional data, it necessary. MODULE -1 ~ a) With the help of a schematic and control system block diagram, explain the design of a typical robot joint 10 b) With a neat block diagram explain the Pneumatic drive system. List its advantages over other drive systems. 8 c) Why end effector is not considered a part of robot anatomy ? 2 2. a) Differentiate between limited sequence, playback and intelligent robots. 6 b) Write short notes on : i) Tools used as end effectors. o ii) Vacuum grippers. 8 c) With neat sketches explain Accuracy, resolution and repeatability. 6 MODULE - II 3. a) With neat sketch explain the working of a force-torque sensor. 8 b) Which control loop will be most suitable for drilling and painting operations ? Justify your answer. c) With neat diagram explain working of a servo DC motor. What are its advantages over stepper motor ? P.T.0. eyETC/ECE 8 (E-IIl) — (4) (RC) 2 4. a) ADC tachometer is to be used as the velocity feedback d é twisting joint. The joint actuator is capable of driving the joint at a maximum velocity of 0.75 rad/s and the tachometer constant is 8.0 Virad/s. What is the maximum output voltage that can be generated by the device, if the tachometer is geared with joint so that it rotates with twice the angular velocity of the joint ? If the joint rotates at a speed of 25°/s, determine the output voltage of the DC tachometer. levice on a certain b) List and explain the desirable features of sensors. c) What are internal and external state sensors ? Give example of each. MODULE - III . Two different style work parts travel down a conveyer and are positioned ina robot workstation for a certain processing operation. Two photocells are used to indicate that work parts have arrived in the workstation and to distinguish between the two styles. The operation of the photocells is as follows. The first photocell is actuated (on) when the part has arrived and is registered in place. The second photocell is actuated when part style A is located in place in the workstation and not actuated when style B is placed in the station. Using appropriate commands write a robot program that will call either of the two processing subroutines depending on which partis placed. The two subroutines are called by the statements CALL ASTYLE and CALL BSTYLE. Identify any other interlock and sensor requirements and incorporate them in your program. The program should repeat continuously. a 6. a) Explain in detail the limitations of lead through method. b) What is teach pendant ? Draw a generic teach pendant and list down its basic functions. ¢) Discuss the various program control and subroutine commands used in Tobotlanguages. ~+ ETC/ECE 8 (E-III) - (4) (RC) MODULE - Iv 7. 8) Write anote on sensing and aig izing image data. 6 b) Write a note on lighting techniques. 6 ©) Explain with the help of a neat diagram working of a vidicon tube. 8 8) Compare wheeled robots and legged robots and comment on thei stability, 8 b) Write short notes on: i) Bug algorithm. ii)’ Voronoi diagram. ill) Vector field histogram. iv) Approximate cell decomposition.