B. E. Electronics Engg.

SUBJECT: - ROBOTICS

QUESTION BANK

1. Explain 4 DOF SCARA robot and its work envelop with diagram.
2. Explain screw transformation. Show that inverse of screw transformation is again screw
transformation.
3. What are inverse kinematics problems? What are different methods of solving it and solve IK for
3 axis PARA.
4. Define joint Space work envelop, dexterous work envelop and explain with figure.
5. Explain analysis of work space envelop of a 4 axis SCARA robot.
6. Explain difference between trajectory and path. What is SDF? Derive it.
7. Solve IKP for 2 axis PARA find out possible value of θ 1 & θ 2 for the robot.
8. Assume a1 = 300 mm, a2 = 250 mm position of a point p is given by x = 392.5 mm, y = 315 mm.
T
π π π
9. determine TCV of SCARA robot when q =  , ,150 , 
6 3 2

Vector of link length a = { a1 , a 2 ,0,0} = { 425,375,0,0} mm

T T

Vector of Joint distance d = { d1 ,0, d 3 , d 4 } = {877 ,0, q3 ,200 } mm

T T

10. Explain PNP motion trajectory in detail.

11. Explain template matching algorithms. Which is an alternative method that eliminates the problem
of variation in average light intensity?
12. Find Cubic interpolating polynomials w(t) , which will smoothly move the robot between
following points in TCS. Over the interval (0,T). Assume zero velocity at the each end of the
trajectory.
w0 = [10,10,10,0.368, 0.368,-0.368]T
w1 = [15,15,05,01,01,-01]T
w2 = [0,10,10,0,0,-0.368]T
• Find the required acceleration during the blend.
• Find the trajectory “w(t)” over the interval [0,2].
13. Write a short note on
a. Principle of NC & CNC machine.
b. Robot specification.
c. Robot and industry safety.
d. Robot programming.
e. Workspace fixtures.