Birla Vishvakarma Mahavidyalaya, Vallabh Vidyanagar

5MD48: Robotics and Control

Assignment, Summer 2020
1. Define a Robot.
2. Discuss the advantages and disadvantages of using robots in industries.
3. What are the advantages of using robots in industry?
4. Discuss the impact of robotic induction on direct labour.
5. Briefly discuss the various robot components.
6. How the robots are classified?
7. With the help of neat sketch, explain the robot anatomy.
8. With the help of neat sketches, differentiate and highlight the four common types of
robot configurations.
9. How the robots are specified? Enlist robot specifications and explain each of them
briefly.
10. What is robot configuration? Explain PP, PPR and RRR configurations of robotic
manipulators with neat sketches.
11. Why SCARA arm is more ideal for assembly operation?
12. Define (i) Degrees of freedom (ii) Work envelope (iii) Work Volume (iv) Load carrying
capacity (v) End-effector
13. What are the advantages and disadvantages of cylindrical arm configuration over a
polar arm configuration?
14. Explain about the fundamental rotation matrices.
15. Discuss about Coordinate frames and Mapping.
16. Explain briefly about the mapping between rotated frames.
17. Explain briefly about the mapping between translated frames.
18. Explain briefly about the mapping between combined rotated and translated frames.
19. Discuss about the 44 homogeneous transformation matrix.
20. How to find the inverse of the 44 homogeneous transformation matrix?
21. What do you mean by principal axes rotations?
22. Discuss about the fixed angle representation.
23. Discuss about the Euler angle representation.
24. Discuss about the equivalent axis/angle representation.
The coordinate of point P in frame {1} are 3 2 1 . The position vector P is rotated
T
25.
about Z-axis by 45o. Find the coordinates of point Q, the new position of point P.
26. The frame {2} is rotated with respect to frame {1} about the X-axis by an angle 60o.
The position of the origin of frame {2} as seen from frame {1} is 1D2  7 5 7 .
T

Obtain the transformation matrix 1T2 . Also, find the description of point P in frame {1}
if 2 P   2 4 6 .
T

27. Frames {1} and {2} are initially coincident. A triangular prism with co-ordinates of its
vertices indicated with reference to the fixed frame {1} as shown in the figure. Frame
{2} is first rotated about X-axis by an angle 90o, then about Z-axis by an angle 90o and
finally translated by 5 units along Y-axis. Determine the homogeneous transformation
matrix describing the change in position of the prism. Also obtained the new co-
ordinates of the vertices of the prism.
28. The end point of a link of manipulator is at [3 3 6 1]. The link is rotated by 60o about
X-axis, then by -180o about its own Z-axis and finally by 90o about its own Y-axis. Find
the resulting homogeneous transformation matrix and final location of the end point.

1
29. A vector P  3iˆ  2 ˆj  5kˆ is first rotated by 90o about X-axis, then by 90o about Z-axis.
Finally, it is translated by  3iˆ  2 ˆj  5kˆ . Determine the new position of the vector.
30. A moving frame is rotated about X-axis of the fixed coordinate frame by π/6 radians.
The coordinates of a point Q in fixed coordinate frame are given by then by 90o about
Z-axis. Finally, it is translated by Q = [2 0 3]T. What will be the coordinates of a point
Q with respect to the moving frame?
31. An end-effector is rotated by 60o about an axis whose unit vector is
 
kˆ  1 2 1 2 1 1 T . Find the homogeneous transformation matrix representing
this rotation.
32. Determine the position and orientation of the end point of the 3-DoF articulated arm
shown in figure.

33. Calculate the velocity of the tip of the two-link, planar RR-manipulator arm shown in
figure.

34. Using the Lagrangian method, derive the equation of motion for two-link mechanism
shown in Figure 4. The center of mass for each link is at the center of the link. The
mass moments of inertia of link 1 and link 2 are I1 and I2 , respectively.

35. A single-link robot with a rotary joint is motionless at  = 15o. It is desired to move the
joint in a smooth manner to  = 75o in 3 seconds. Find the coefficients of a cubic that
accomplishes this motion and brings the manipulator to rest at the goal.
36. A single cubic trajectory is given by  (t )  10  90t 2  60t 3 and is used over the time
interval from t = 0 to t = 1. What are the starting and final positions, velocities and
accelerations?
37. It is required that the first joint of a 6-axis robot rotated from initial 45o to 60o in 5
seconds by using a third order polynomial. Calculate the joint angles at 1, 2, 3 and 4
2
 seconds. If the joint is continuously rotated to reach 100o in another 3 seconds, draw the
position, velocity and acceleration curve for the same.
38. The second joint of a SCARA manipulator is required to move from 60o to 180o in 6
seconds. Obtain the cubic polynomial to generate the smooth trajectory for the joint.
What is the maximum velocity and acceleration for this trajectory?
39. Classify the sensors used in mobile robotic applications.
40. Give advantages and disadvantages of the different sensors used in robotic system.
41. What is the requirement of Force sensors in robotics? Describe any one type of force
sensor.
42. Discuss considerations in gripper selection and design.
43. Explain the ‘Tactile’ sensors.
44. Write a short note on ‘Hydraulic motors’.
45. Classify the ‘Transducers’ and ‘Sensors’ with suitable examples.
46. How the Robot Programing Languages are classified?
47. Describe different programming methods of robots.
48. Explain ‘Lead Through’ programming method.
49. What are the robot programming languages? Describe teach pendent programming.
50. Describe the safety measures are to be taken in robotic systems.

*************