S& Artificial Intellivence Benha University Date: 26/1 /2022 bo Time: 120 Minutes Sublect: Robotics Conrgg Code: A1y3) ‘Total Marks: 50 Marks Answer the following Guestions Sccording to your study (6 questions in 3 ; Question No, 1 Level: 3" eye} Major: Genera) * Genera a [6 Marks} Decide whether each of these statements is True (T) or False (F): a Encoders are able to Provide a motion control system with feed! Position or distance, rotation speed or velocity, and direction, ) Servo Motors are suitable for driving wheels in mobile robots, lback information, concerning C19 Co) a Sonar sensors, the measured time-of: flight is proportional to twice the distance of the i in the sensor cone. nearest co lyzing the incoming ey ‘imity_switehes is based on the variation of the magnetic €) y of a DE motor can be changed by feversing the Polarity of the motor supply voltage. of the laser sensors is to compute light-wave phase shift by Comparing it to a reference signal. —) The operation of capacitive prox en ., and the canes alQuestion No. 3 {6 Marks} Choose the correct answer(s): v1 osition control, so it is an example ) (DE motor — Stepper Motor — Servo Motar) has @ feedback positi ef closed loop contro) 5) Crachometers — Infrared sensors ~ Lager sensors) can be divided into direot current (DC) and alternate current (AC) types. {Ae Hed ©) In capacitive proximity switch, the capacitance of a pair of plates separated by some distance jon Xthe same — the smaller - the higher) the depends on the separation, the smaller the separati capacitance. ’ d) In Incremental Encoder, (Single — Double — Quah and falling edges are counted from both channels. ) (Sensor — Controller — Software): receive its data ftom the computer and controls the motion of uple) resolution is achieved when both rising the actuators. Spee: beam — Retro-reflective — Diffuse-reflective) photoclectric switch has the advantage of ., in comparison to other types of photoelectric switches. te saeattie in response to a wide range of motion teh » d for aswi eh Hed 4 detogt the presence or passage of acam: roll? OF lever, canes alquestion No, 5 . [10 Marks] Answer the following ¢ MeStiONs: (asst, sats Sue any missing dita) For 2DOF Planar Robot Arm, Solve the VP (show the steps fo get the Value of the Arm Matrix % eH, = 30° 9, ga) che length of the 1 link = 2 units andthe tength of 2" tiny. 4 unite, 18 Maris} Question No. 6 Answer the followin; d in Xq and translate a) A frame {B} is moved relative to frame JA). tis translated (8 units) in Xq C7 units) in Yq. Find "P, where P= 10 13 21", +b) Find the DH parameters table for the following robot arm. TG (deg) ay(em) | a 6 90 on 0 oy q 0 2 : ’ GOOD LUCK, ; r ieee. 5 | Vomies) sin(ang) -cos(ang) : ru Rz= | sinfang) coxang) 0 ° 0 1 © costang) yee canes al