JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD
JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD B.Tech III FUNDAMENTALS OF ROBOTICS Previous Question Paper (July - 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
Define manipulator.
Answer
A manipulator is a mechanical device consisting of a series of rigid links connected by joints, which is designed to perform tasks such as grasping, moving, or positioning objects in space. It functions similarly to a human arm, with the joints providing the necessary degrees of freedom to reach and orient an end-effector at a specific target location.
Explain the uses of sensors in robotics.
Answer
Sensors are essential components in robotics that allow a robot to perceive its environment, monitor its internal state, and interact safely with the surroundings. Their primary uses include:
- Perception and Environment Mapping: Sensors like LiDAR, ultrasonic sensors, and cameras enable robots to detect obstacles, recognize objects, and build maps of the workspace for navigation and path planning.
- Feedback and Control: Internal sensors such as encoders, potentiometers, and gyroscopes provide real-time feedback on joint positions, velocities, and orientation, which is critical for precise motion control and stability.
- Safety and Human-Robot Interaction: Proximity sensors, tactile sensors, and force/torque sensors allow robots to detect the presence of humans or external resistance, enabling them to stop or adjust their movement to prevent collisions and ensure safe operation in shared workspaces.
List out the classification of grippers.
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What are the limitations of pneumatic actuators?
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What is homogeneous transformation?
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What is the difference between forward and inverse kinematics?
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Draw the block diagram of trajectory planning.
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What are the different types of control modes used in robot system?
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List out the various robot programming methods.
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Describe robot applications in manufacturing.
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Part B
What are the different ways of classifying the Robots? Explain them in brief.
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What are the different types of sensors used in robots? Explain the suitable sensor to measure the position of the gripper accurately.
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Explain the classification of robots by different controlling methods.
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Define work volume and load carrying capacity with reference to robot.
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Explain the types of gripper mechanisms and force analysis in grippers.
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Explain the applications of robots in detail for various assembly and inspection operations in an industrial environment.
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With a neat sketch, explain the magnetic gripper and list its advantages and limitations.
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What are future manufacturing applications of robot?
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Derive the forward kinematics equation using the DH convention for the two-link manipulator with one revolute and one prismatic joint.
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Using the above formula find the motion parameters for the point a(uvw)= (6,2,4) T rotate 30 degree about the y-axis followed by translation of 6 units along X-axis.
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Write the homogeneous transformation matrix for a rotation of 90 degree about the z-axis, followed by a rotation of 90 degree about the x-axis, followed by a translation of (3, 7, 9).
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Explain the inverse kinematics for any manipulator based on D-H convention.
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Explain tasks involved in trajectory planning. Explain the Cartesian space techniques used for trajectory planning.
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What are the considerations that are made while planning a joint interpolated motion trajectory?
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With the help of diagram, show the elements of feedback control system.
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Discuss the structure, elements and functions of any one Robot Language.
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Differentiate Manual lead through and powered lead through in robot programming.
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Discuss about the WAIT, SIGNAL, DELAY commands.
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Discuss the relative merits and demerits of different textual robot languages.
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