3. What is a Resolver? Give 3 applications of Resolver. Ans.

A Resolver is an Introduction to robotics

electromagnetic transducer that can be used in a wide variety of position and velocity
feedback applications which includes light duty, light industrial or heavy duty applications. Well it is a system that contains sensors, control systems, manipulators, power supplies
Resolvers known as Motor Resolvers are commonly used in Servo Motor feedback and software all working together to perform a task. Designing, building, programming
applications due to their good performance in high temperature environments. and testing a robot is a combination of physics, mechanical engineering, electrical
Applications of Resolver: servo motor feedback jet engine fuel systems air craft flight engineering, structural engineering, mathematics and computing. In some cases
surface actuator biology, medicine, chemistry might also be involved. A study of robotics means that
students are actively engaged with all of these disciplines in a deeply problem-posing
problem-solving environment.
1. A) what is control system? What are the types of control system? Define each of
them. 2+2+4 B) what are the different control strategies used in Controller? 7 Ans.
Features of a robot
A) A control system is a combination of elements arranged in a planned manner where in
each element causes an effect to produce a desired output. There are two types of Robots must be able to sense and react to changes
control system- open loop and closed loop. (Open loop system is more stable than closed
loop) Open loop : In an Open Loop system, the output is neither measured nor fed back Robots are most ideal for repetitive job
for comparison with the input. Closed loop: In closed loop control system, has an effect
on the gain or control action through the feedback element and hence also named as Industrial robots are used for loading unloading of machines welding spray painting and
Feed back control system B) On-Off control Proportional control Integral control assembly
Derivative control Proportional And Integral control Proportional and Derivative control
Proportional, Integral and Derivative control Industrial robots are advanced automation systems

2. A) What are the different types of Controllers used in robotic systems? 5 B) What It’s aum and capability of programming makes it ideal for various type of production task
are the differences between OLCS and CLCS ? 5 C) A single link manipulator has
What is robotics
lowest arm model resonance occur at 32 rad/sec. Find the gain: Kp and Kd. 5 Ans.
A) Drum controller: using a rotating drum Air-logic or Pneumatic controller: using no of Robotics Is engineering science and technology of robots and their design manufacture
valves Programmable Logic Controller (PLC): Microprocessor based Controller Mini application and structural disposition.
computer based Controller B) OLCS: The accuracy depends on the calibration of the
input. Any departure from predetermined affects the output These systems are cheap. Laws of robotics
They are simple to construct They are generally stable Affected due to the presence of
non-linierities in its elements CLCS: The error between input and output is continuously 1) Robots was not injured humans 2) Robots must obey orders 3) Robots must protect
measured through feedback. So the system arm is more accurate These are costly. They their own existence
are complicated to construct can become unstable at any condition closed loop system
adjusts to the effect of non-linierities present in its elements. C) Kp= 256, Kd=32 Qualification needed for becoming a robot

Generation in robot system Carry out different tasks

Function autonomously and interact with human being

1) First generation Which type of robot is designed with limited computer power. They
follow simple instructions in control strategies. They have started in 1960
Get information from its surrounding
2) Second generation Computer processes were introduced in this generation. This Reprogrammable
provided real time calculation of trajectory to smoothen the motion of end effectors. This
technology came in 1980 Classification of robots

3) third generation Concept of artificial intelligence developed. Allow the robots to draw RIA & JARA (last 2 points for JARA ONLY)
conclusion from past experience and allow their operation correspondingly. They are
intelligent device capable of making decisions and generating on program motions based 1.Handling devices with Manual control (variable sequence robot)
upon information captured by sensors They were introduced during 1990 to 2000.
2. Automated handling devices with predetermined cycle (Playback robots)
4) fourth generation Innovative mechanical architectures considerable mobile sensing
and AI vision system and advanced control system developed after 1990. This can 3. Programmable Servo controlled robots (Numerical control robots)
forecast future and take decisions they can perform 13 million instructions per second.
4. Robots acquire information from the environment (Intelligent robots)
5) fifth generation Includes integrated systems working systems with lights and designs
5. Fixed sequence robot
with advanced sensing systems. They have features such as mobility prediction micro
and Nano homes along with excellent simplified programming capability.
6. Manual handling devices automated by an operating
Industrial robots applications LIMITATION OF ROBOTS

Material handling, palletizing, laser cutting, inspection, Polishing, welding, assembly, Robot not creative Robots cannot think Robots cannot make decision Cannot adapt to
spray painting. change

Basic components of robotics 3. A) For a partition PD Controller for a rotary joint with effective arm damped
natural frequency of 30 rad/sec and damping factor of 0.2 . Find the gains - Kp,
1. manipulator Mechanical manipulator refers to the the body arm and wrist assembly of Kd.(Kp 900, Kd 12) B) Compare between P , PI and PID control. C) What are the
a robot robot anatomy is concerned with the physical construction of the body, arm and basic components of PLC. Answer. P control: fast closed loop response Non zero
wrist of the machine. Most of the robots are mounted on a base which is joined to the stedy state error(offset) PI control: Zero steady state error Integral action may induce
floor. close loop instability PID control: Zero offset Derivative action reduces oscillation
Measured Noise is amplified C) Introduction () Basic Processor module: It is the brain of
2. End effectors An end effector also known as end of arm tool or more simply hand is a PLC system. Microprocessor is used as the processor. Input Module: There are many
system that link the mechanical portion of the Robot to the parts being handeled or types of Input modules depends upon the nature of input. Some examples are limit
worked on. switches, proximity switches etc. Output modules: Output modules can be used for
devices such as solenoids, relays, contractors, pilot lamps etc. Programming unit: It is
3. Actuator The joints of robot are powered by actuated to produce the rotating for sliding an external electronic handheld device which can be connected to the processor of the
motion in the linkage. Actuated are similar to muscles of human body they transform an PLC when programming changes are required. Once programming is done it can be
input signal source into desired motion. burn into a ROM. Nowadays, EP ROM and EEP ROM are also used for this purpose.

4. Sensors Sensors are located on the robot and used to physically measure and
determine the state of the manipulators link. Sensors are measure and remind the force
and movements executed by the Manipulated object.

5. controller A controller external or an internal processor that is the brain of a robot It

estimate the Required displacement and velocity of joint to achieve a desired in effect
motion and supervises the actions of actuators.
1. What is Robot programming? What are the different methods of Robot 1. What is Range sensor? What are the types of range sensors used in robotic system?
programming? Ans. Robot programming is the act of teaching a work cycle to a robot. Ans. There is another class of proximity sensor, known as range sensor. A range sensor
Robot programming sequences the robot motion and activities in an order that will measures the distance from a reference point, usually located on the sensor itself, to a
accomplish a desired set of task. There are 4 different methods - Manual Methods Walk point in the scene. Following are the types: Range finding based on a laser scanner or a
through programming Lead through programming or Teaching box method Textual supersonic or radar sensor an optical sensor that determines the distance based on the
language or offline programming. amount of reflected light visual sensor with active illumination operating on a triangular
principal stereo vision system with passive illumination
2. Name 5 different robot programming languages and their developer. Ans. AML –
IBM. HELP - GENERAL ELECTRIC. RAIL – AUTOMATICS. WAVE – STANFORD. RPL –
A) Working principle of LVDT. Ans: The working of LVDT is based on the principle of
SR
Faraday’s law of electromagnetic induction that states that “the net induced emf in the
3. Write down the functions of the following commands: MOVE A - It refers to the circuit is directly proportional to the rate of change of magnetic flux across the circuit, and
straight line intercolation. The controller computes a straight line trajectory from the current the magnetic flux of the coil wounded with wires can be changed by moving a bar magnet
position to position A and causes the robot arm to follow that trajectory. The suffix "S" on through the coil.”As the primary winding of the LVDT is connected to the AC power supply,
MOVE designates straight line intercolation. MOVE PATH 123 - This indicates the robot the alternating magnetic field is produced in the primary winding, which results in the
arm to move through the sequence of positions defined in PATH 123 using a joint induced emf the secondary windings. the total output voltage (Eo) in the circuit will be
interpolated motion between the points. WAIT 20, ON - It causes the program execution to given by, E0= E1 - connection, the total output voltage (Eo) in the circuit will be given by,
stop at this statement untill the input signal coming into the robot controller at Code 20 E0= E1 -E2
was in an ON condition. This is used in situation where the robot needed to wait for the
complition of an automatic machine cycle in a loading and unloading application. SPEED B) Write down the names of different sensors used in robotic systems Ans. B)
75 - This command indicates that the robot should operate at 75% of initially commanded different types of sensors - touch proximity mechanical base resistive base capacitive base
velocity in the statement that follow in the program. The initial or normal speed is given in
magnetic based optical based optical fibre based piezo electric sensor strain gauge
a command that precedes the execution of the robot program. SIGNAL 20, ON - It would
SMART sensor range sensor tactile force
switch On the signal at outport point 20 , perhaps to actuate the start of an automatic
machine cycle.
2. Short note A) Resistive sensor. The basic principle of these type of Sensor is the
4. What is Automation? Write two advantages and disadvantages of Automation. measurement of resistance of a conductive elastomer or foam between 2 points. The
Ans. Automation: It is a Technology concerned with the use of mechanical, electrical, majority of the sensor use an elastomer that consists of a carbon doped rubber. In these
electronic and computer based systems in the operation and control of production. sensors the resistance of the elastomer changes with the application of force resulting from
Advantage : Increased production capacity Enhanced product quality Disadvantage: High the deformation of the elastomer altering the particle density. Many analog touch and
cost of design manufacturing Maintenance cost is high tactile sensors have been based on the principle of Resistive sensing. This is due to the
simplicity of their design and interface to the robotic system.
1. A) What are the different components used in a hydraulic drive system.8 B) What
B) Capacitive sensor A capacitive sensor relies on the applied force either the changing
are the classification of hydraulic actuator.2 C) What are the basic components of
distance between the plates or the effective surface area of the capacitor. In such a sensor
pneumatic drive system.5 Ans A) basic components are - Hydraulic rotary or linear
two conductive plates of the sensor are separated by a dielectric medium which is also
cylinders and rams to provide the force or torque needed to move the joints.they are
used as the elastomer to give the sensor its force to capacitance characteristics. The use
controlled by servo valves of manual valves hydraulic pumps which maybe a high pressure
of highly dielectric polymer such as polyvinylidene fluoride maximises the change in
pumps to provide high pressure fluid to the system. a motor to operate pump. a cooling
capacitance. To measure the change in capacitance the number of techniques can be
system to take away the heat generated a reservoir or tank, which keeps the fluid supply
used. The most popular technique is - Precision Current Source. Second most popular one
available to the system servo valves to control rate of fluid supply available to the system
is - A Tube LC circuit.
switches to control motion of the cylinder connecting hoses to transport the pressurized
fluid B) classification - linear actuator and rotary actuator C) basic components -
C) Magnetic based sensor. There are two approaches to the design of magnetic based
compresser, which may compress air from atmosphere pressure to a higher level of
transduction. Number one of a small magnet by an applied force will cause the flux density
pressure pneumatic conditioners like air filter, pressure regulators, lubricants and driers
and the point of measurement to change the flux measurement. The flux measurement can
where excess moisture and heat are removed from air. different types of pneumatic valves
be made by a HALL effect of magnetostrictive device. The core of the transformer or the
such as flowrate and direction control valve, pressure control valve.
Inductor can be manufactured from a Magneto-elastic material that will deform under
pressure and cause the magnetic coupling between transformer windings or a coils
2. Aa DC servo motor has a torque constant of , Kt = 0.095 N.m/amp. It's voltage constant
inductance to change. Advantages of this sensor is - High sensitivity and dynamic range,
Kv is = 0.11 rad/sec. The armature resistance Ra =1.6 ohm. A terminal voltage of 24 volt is
no measurable mechanical hysteresis, a linear response and physical robustness.
used to operate the motor. Determine - A) the starting torque generated by the motor just
as the voltage is applied. B) the maximum speed at the torque of 0 C) rotational speed at
A) How many types of optical sensors are used ? Define each of them. Ans. There
the operating point of the motor when it is connected to a load whose torque
are two types of optical sensors They are - Intrinsic and Extrinsic Intrinsic: Here the optical
characteristics is given by Tl = 0.007 Ans A) 1.425 N.m B) 218.2 rad/sec C) 5.3 rad/sec
phase, intensity or polarization of transmitted light are modulated without interrupting the
optical part. Extrinsic: Here the physical stimulus interacts with the light external to the
3. Short note on - Magnetostrictive actuator Potentiometer Encoder Ans. A)
primary light path.
Magnetostrictive actuator: Magnetostrictive materials respond with strain to an applied
magnetic field. The effects can be reversible. Therefore, magnetostrictive materials can
B) What are advantages of optical sensors? Ans. Simple to construct Simple to
serve both sensors and actuators. Formerly, this material is defined by JOULE and
process information Intrinsically safe The use of optical fibre allows the sensor to be
VILLARI effects.
located some distance from the optical source and receiver Low weight and volume
B) Potentiometer The potentiometer is basically a long piece of uniform wire across which
C) What are the advantages of Magnetic sensor ? Ans. high sensitivity dynamic range
a standard cell is connected. In the actual design, the long wire is cut into several pieces
no measurable mechanical hysteresis a linear response physical robustness
and it is placed side by side and connected at the ends with a thick metal strip. The current
flowing through the wire can be varied using a variable resistance (rheostat) connected to A) Why proximity sensor is used in a robotic system ? Ans. Proximity sensor might be
the circuit. The resistance can be changed manually for measuring the potential difference.
used to indicate the presence or absence of a work path or another object. In other words
is the detection approach to a workplace or obstacle prior to touching. Proximity sensing is
C) Encoder: Ans: Simply put, an encoder is a sensing device that provides feedback.
required for really compenent general purpose robot. Even in a highly structured
Encoders convert motion to an electrical signal that can be read by some type of control
environment, where object could intrude and accidental collision may occur. Avoidance of
device in a motion control system, such as a counter or PLC. The encoder sends a
damaging collision is imperative. A proximity sensor is used to determine whether an
feedback signal that can be used to determine position, count, speed, or direction.
object is close to another object before contact is made.
How does an encoder work? Encoders use different types of technologies to create a
B) What are the different proximity sensors are used in robotic system? Ans.
signal, including: mechanical, magnetic, resistive and optical – optical being the most
magnetic proximity sensor Eddy current and Hall effect optical ultrasonic inductive
common. In optical sensing, the encoder provides feedback based on the interruption of
capacitive
light. The graphic below outlines the basic construction of an incremental rotary encoder
using optical technology. A beam of light emitted from an LED passes through the Code C) Explain, how optical proximity sensors work ? Ans. It consists of a light source,
Disk, which is patterned with opaque lines (much like the spokes on a bike wheel). As the called Emitter , which is either internal or external to the sensor and a receiver which
encoder shaft rotates, the light beam from the LED is interrupted by the opaque lines on senses the presence or absence of light. The receiver is usually a photo transistor and the
the Code Disk before being picked up by the Photodetector Assembly.
emitter is led. The combination of the two creates a light sensor and is used in many
applications including optical encoders. In a proximity sensor, the set-up will be such that
1. What is end effector? What are the features of end effector? Ans. A robot arm by
the receiver does not receive the light emitted by the emitter unless the object is close by.
itself cannot serve the purpose of manipulation untill a load or a tool is suspended from it.
Unless a reflective object is within the range of the switch, the receiver does not see the
This end of arm tool or simply hand is known as end effector. Features: It should attach
light and therefore there will be no signal.
hand or tool to the robot wrist Get the power for actuation of tool It should have proper
mechanical linkage It should have integrated sensors inside the tool 2. Write short note on 1. Name 5 actuating devices that are used in commercial robotic systems. Ans. DC or
tool as end effector. Ans. In many applications robot is required to manipulate a tool rather
AC motors, piezo electric motors, stepper motor, pneumatic device, electro hydrolic
than a work part. In some of these applications, the end effector is a gripper that is
actuator. 2. What are the advantages and disadvantages of pneumatic drive system?
designed to grasp and handle the tool. The reason for using a gripper is that there maybe
Ans. Advantages: High speed High force capabilities coupled with small sizes. High
more than one tool to be used by the robot in the work cycle. The use of gripper permits payload to weight ratio Disadvantages: Imoossibility to change a given program for the end
the tools to be exchanged during the work cycle. And thus facilitates the multi-tool handling effector trajectories during motion. poor positioning repeatability 3. What are the 5 main
function. In most of the robot applications, the tool is attached directly to the robot wrist. In drawbacks of hydraulic drive system? Need for a large infrastructure and floor space
this case the tool is end effector. A few examples are spot welding tools, arc welding tools, potential for fluid leaves which undesirable in a clean environment possible hazards
spray painting nozzles, heating torch etc This must have following features: Physical
associated with high pressure noisy operation vibration and maintenance requirements. 4.
support of end effector during work cycle power to actuate end effector must be supplied
What are the disadvantages of AC induction motors ? they are difficult to control they
through interface control signals to actuate end effector must be provided feedback signals
require electronic controller to generate alternating current they have complex non-
must sometimes be transmitted through interface to the controller
linierities partial state measurements, parameter variation.