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Robotics and Automation

This document outlines the end semester examination for the Robotics and Automation subject at Pillai College of Engineering, covering various topics such as inverse kinematics, Denavit Hartenberg representation, industrial automation levels, and automated assembly systems. It includes questions on mathematical derivations, robotic movements, and the functioning of automated systems. The exam is structured with compulsory and optional questions, each carrying specific marks.

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rpathak22extc
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2 views2 pages

Robotics and Automation

This document outlines the end semester examination for the Robotics and Automation subject at Pillai College of Engineering, covering various topics such as inverse kinematics, Denavit Hartenberg representation, industrial automation levels, and automated assembly systems. It includes questions on mathematical derivations, robotic movements, and the functioning of automated systems. The exam is structured with compulsory and optional questions, each carrying specific marks.

Uploaded by

rpathak22extc
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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QP CODE 226941

PILLAI COLLEGE OF ENGINEERING, NEW PANVEL


(Autonomous) (Accredited ‘A+’ by NAAC)
END SEMESTER EXAMINATION
May 2023
BRANCH: Electronics and Telecommunication Engineering
SEM-VI
Subject :- Robotics and Automation Time: 02.00 Hours
Max. Marks: 60 Date: 06/05/2023
N.B 1. Q.1 is compulsory Subject Code ET 313
2. Attempt any two from the remaining three questions
3. Each Question carry 20 marks.

Q.1. Attempt All Marks

a) Derive the inverse kinematic equations for a spherical coordinate system. 5


b) Draw and explain the Denavit Hartenberg representation of a general-purpose joint link. 5
c) Explain different levels of industrial automation. 5
d) Describe the different configurations of Automated Assembly Systems. 5
Q.2. Attempt All
A frame B was rotated about the x-axis 90°, then it was translated about the current a-axis 3
inches before it was rotated about the z-axis 90°. Finally, it was translated about the current
o-axis 6 inches.
a) 10
i. Write an equation that describes the motions.
ii. Find the final location of a point p(3, 6, 5)T attached to the frame relative to the
reference frame.

The position and restored orientation of a cylindrical robot 1 0 0 −3.456


0 1 0 4.578
b) are given. Find the matrix representing the original position𝑇=[ ] 6
0 0 1 6
and orientation of the robot before it was restored.
0 0 0 1
Differentiate between Joint space movement and Cartesian space movement of a robot
c) 4
with the help of diagrams.
Q.3. Attempt all
In a robotic set-up, a
camera is attached to the 0 0 1 3 1 0 0 0
fifth link of a 6-DOF robot. 1 0 0 3 0 1 0 0
It observes an object and 𝑐𝑎𝑚 𝑇𝑜𝑏𝑗 =[ ] 𝐻𝑇𝐸 =[ ]
0 1 0 6 0 0 1 5
determines its frames
a) relative to the camera’s
0 0 0 1 0 0 0 1 10
frame. Using the following 5 𝑇𝑐𝑎𝑚
0 −1 0 0
information, determine 0 0 −1 5 1 0 0 0
the necessary motion of 0 −1 0 1 5 𝑇𝐻 =[ ]
the end effector must =[ ] 0 0 1 6
−1 0 1 6
make to get to the object. 0 0 0 1
0 0 0 1
1
QP CODE 226941
b) Draw and explain the representation of a pure rotation about the x-axis. 6
c) Explain the working of automated flow lines with storage buffers. 4
Q.4. Attempt All
It is desired to have the first point of a 6-axis robot go from an initial angle of 30° to a final
angle of 85° in 5 seconds. Assume the initial acceleration and final acceleration will be
a) 10
6°/sec2. Using a fifth-order polynomial, calculate the joint angle at 1, 2, 3, 4 and 5 seconds.
Draw the position, velocity and acceleration curves for the motion.
Consider the pixels of an image, with values as Image Convolution mask
shown in figure, as well as a convolution mask with
the given values. Calculate the new values for the 4 8 2 9 0 1 1
b) given pixels. 2 3 5 6 0 1 1 6
5 4 2 5 1 0 0
7 6 6 7

A frame F has been moved 10 units along the y- 0.675 −0.457 0.526 7
axis and 5 units along the z-axis along the 0.573 0.918 0.394 4
c) 𝐹=[ ] 4
reference frame. Find the new location of the −0.982 0 0.581 6
frame. 0 0 0 1

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