JNTUH
JNTUH B.Tech III FUNDAMENTALS OF ROBOTICS Previous Question Paper (February - 2023 - R16)
Note: i) Question paper consists of Part A, Part B. ii) Part A is compulsory, which carries 25 marks. In Part A, Answer all questions. iii) In Part B, Answer any one question from each unit. Each question carries 10 marks and may have a, b as sub questions.
Part A
What is precession of movement?
Answer
Precession of movement refers to the change in the orientation of the rotational axis of a rotating body, such as a robot joint or end-effector, when a torque is applied perpendicular to the axis of rotation. It is the circular motion of the axis itself as it maintains its angular momentum.
Give one application of proximity sensor.
Answer
A proximity sensor is commonly used in robotic assembly lines for part detection, where it senses the presence or absence of a component on a conveyor belt without physical contact to trigger the robot's pick-and-place operation.
What is pivoting movement in the gripper mechanism?
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What are adhesive grippers?
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What is homogeneous transformation matrix?
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Differentiate forward and inverse kinematics.
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What are the inputs for inverse kinematics problem?
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Explain joint movement method to define position in space.
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What are front and back lighting in machine vision?
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What is textual robot language in robot programming methods?
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Part B
What are the various components of the industrial robotics?
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What are the various types of joints used in robotic systems?
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Differentiate parallel and serial manipulators.
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Briefly describe about the torque sensor and its applications.
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Analyse the gripper force used in the gripper mechanism at the wrist end.
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Discuss the gear and rack method of actuating the gripper.
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What are the advantages of magnetic gripper?
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How the vacuum cups can be used for handling the objects?
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Give the forward and reverse transformation of a 2 DoF arm of type RR, given its position.
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A vector v=i+5j+2k is rotated by 60 deg about the Z axes, followed by 30 deg about X axes and then translated by 2,4,6 units in the x, y and z directions respectively. Find the final vector with reference to the reference frame.
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Discuss and calculate the various parameters concerned with 3-5-3 trajectory method.
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Describe the features of servo system and control architecture for robot systems.
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How does the teach pendant performs the operations.
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Explain the object recognition technique in the image processing and analysis.
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Explain the feature extraction technique in the image processing and analysis.
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What are the basic three applications of machine vision?
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