M. Tech.

2018-19
MTAR-102: ROBOTICS: ANALYSIS AND SYSTEMS

Time: 03 Hrs M.M.: 70

Section: ‘A’
Q1. Note: Attempt all parts. All parts are having equal marks. 7x2=14
(a) What is meant by work space and work volume?
(b) Name components of a joint actuating system.
(c) What is feedback system in robot manipulator?
(d) Distinguish between robot accuracy and repeatability.
(e) Give different configurations of robots.
(f) What do you understand by degree of freedom (DOF)?
(g) Name any two languages used for robot programming.

Section: ‘B’
Q2. Note: Attempt any three parts 7x3=21
(a) Differentiate between VAL and RAIL robot programming language.
(b) What are various types of interpolation methods available with industrial robot?
(c) Distinguish between servo and non-servo manipulators. What is the hierarchy of
control for servo robots?
(d) Discuss different feedback components used in robots. Describe them in brief.
(e) Write homogeneous transform matrix for a rotation of 900 about the z-axis, followed
by a rotation of - 900 about the x-axis, followed by a translation of (3,7,9)

Section: ‘C’
Q3. Note: Attempt all parts 5x7=35
(a) State various ROBOT arm configuration and draw their kinematics representation
through line sketches?
or
How do you specify a robot? Is robotics an automation? Discuss different classification
systems of robots.
(b) What are major components in a vision system? Write short note on manipulated
inspection.
or
What are various fields in which robots are used? Discuss them in detail.

(c) Briefly explain the two stage control of manipulator using interpolation of end effectors
position method.
or
Discuss applications and working principle of the following sensors.
i) Range sensors ii) Acoustic sensors iii) Tactile sensors.

(d) Write a VAL robot program to perform pick and place operation on the conveyer
system. It consist of two conveyors running parallel with centre distance of 600 mm at
same level. An industrial robot is fixed centrally between the conveyors. The robot is
used to transfer work pieces from conveyor 1 to 2 at a constant speed. Draw a schematic
view of the system .assume all necessary dimension.

(e) What is Denavit - Hartenberg notation for assigning frames to links and identifying
joint link parameters? Discuss.

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