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Robotics and Automation Exam May 2013

The document contains details about a term end examination for a robotics and automation course. It includes 10 questions related to topics like manipulator kinematics, homogeneous transformations, robotic vision systems, trajectory planning, and industrial applications of robots. Students are asked to define concepts, derive equations, analyze images, write programs, and describe robot applications in welding, painting/assembly, and nuclear plants. The exam is out of 100 marks and contains a variety of short and long answer questions.

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SharvanMvs
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74 views4 pages

Robotics and Automation Exam May 2013

The document contains details about a term end examination for a robotics and automation course. It includes 10 questions related to topics like manipulator kinematics, homogeneous transformations, robotic vision systems, trajectory planning, and industrial applications of robots. Students are asked to define concepts, derive equations, analyze images, write programs, and describe robot applications in welding, painting/assembly, and nuclear plants. The exam is out of 100 marks and contains a variety of short and long answer questions.

Uploaded by

SharvanMvs
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Term End Examination - May 2013

Course

EEE410

- Robotics and Automation

Class NBR :

2065

Time

Three Hours

Slot: E2

Max.Marks:100

Answer 100 Marks only


1.

a) With suitable example explain the following machine elements used in manipulator.
(i) Link

[2]

(ii) joints

b) Briefly describe the working of some environment sensor used in robotics

[6]

(i) Contact sensor (ii) Noncontact sensor


2.

a) The end-point of a link of a manipulator is at P=[2 2 6 1]T the link is rotate by 90

[4]

about x-axis, then by -180 about its own y-axis, and finally by -90 about its own
z-axis. Find the resulting homogeneous transformation matrix and the final
location of the end end-point.
b) Derive the homogeneous transformation matrix. Briefly mention the role of

[8]

different component of the matrix.


[8]
c) The homogeneous transformation matrix between frames {0}-{1} and {0}-{2} are

1
0

2
0

0.866 0.500
0.500 0.866
=
0
0

0
0

0 11
0 1
1 8

0 1

0
0
0
1
0 0.866 0.500 10

=
0 0.500 0.866 20

0
0
1
0

Determine

1
2

Page 1 of 4

3.

For the SCARA manipulator shown in figure below. Derive the forward kinematics

[10]

equation using DH convention.

4.

a) What is image acquisition? Explain how the vidicon tube and charge couple device

[10]

is used for imaging.


b) Show how image storage requirement depends on spatial and amplitude digitization

[5]

parameters.

5.

c) What task can be performed by a robotic vision system? Briefly explain.

[5]

What is edge-detection algorithm? Determine the boundaries of the object in the image

[10]

using edge detection algorithm.


0

Page 2 of 4

6.

A gray scale digitize image with 6-bit amplitude digitization is presented by 10x10 [10]
array of pixel shown in figure below. Construct a gray level histogram for the image
and choose an appropriate threshold value to convert the image into a black and white
image. Also for the binary image,
determine (a) Image area
(b) the centroid of the image
(c) Aspect ratio
(d) Roundness
(e) Orientation

11

17

16

15

17

21

17

16

16

15

12

10

59

61

60

61

60

56

56

26

11

12

10

60

57

60

61

60

62

48

42

19

10

15

15

13

60

60

61

60

56

12

11

11

18

12

16

57

60

62

63

26

12

13

11

10

12

61

59

62

59

19

13

14

10

60

60

59

54

61

58

13

16

12

12

63

62

58

53

60

63

62

56

13

28

17

15

10

19

27

61

51

10

7.

Write a Robot program to transfer work pieces from one pallet to another.

[10]

8.

a) Compute a Quintic polynomial trajectory. Sketch the resulting position, velocity

[5]

and acceleration profile


b) The second joint of a SCARA manipulator is required to move from 2 =30 to 105
in 5 second. Find the cubic polynomial to generate the smooth trajectory for the
joint. What is the maximum velocity and acceleration for this trajectory?

Page 3 of 4

[5]

9.

For the binary image determine (a) Image area

[10]

(b) Aspect ratio


(c) Centroid of the image
(d) Orientation
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 1 1 1 1 1 1 1 1 0 0 0 0 0 0
0 0 1 1 1 1 1 1 1 1 0 0 0 0 0 0
0 0 1 1 0 0 0 0 1 1 0 0 0 0 0 0
0 0 1 1 0 0 0 0 1 1 0 0 0 0 0 0
0 0 1 1 0 0 0 0 1 1 0 0 0 0 0 0
0 0 1 1 0 0 0 0 1 1 0 0 0 0 0 0
0 0 1 1 1 1 1 1 1 1 0 0 0 0 0 0
0 0 1 1 1 1 1 1 1 1 0 0 0 0 0 0
0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0
0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0
0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0
0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 0
0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

10.

Write short notes of the following application:

[12]

a) Role of robot in welding industry


b) Role of a robot in painting and assembly
c) Role of a robot in nuclear plant

Page 4 of 4

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