University of Mumbai 2008-8th Sem B.E Electrical and Electronics Engineering Robotics - Question Paper
Robotics Sem VIII June 2008
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[Total Marks :
(3 Hours)
N.B.: (1) Question No. 1 is compulsory.
(2) Attempt any four questions out of remaining six questions.
(3) Assume suitable da4a if necessary with proper justification.
A- ;-'UL
1. (a) How are robot classified ? 5
(b) Define Precision, Accuracy, repeatability DOF and work space envelope for Robot. 5
(c) Explain the properties of inverse kinematics solution. 5
(d) Define kinematic parameters. What is soft home configuration ? 5
2. (a) Find ths composite rotation matrix by rotating the tool about fixed axis of F frame 10
with a yaw of foilwed by a pitch of ~n/2 and finally roll of radiance,
if [P]M = [0, 0, 0*5]t. Find [P]F. Draw the frame rotations.
(b) Explain the four fundamental operations to transferring frame K-1 to frame k, obtain 10
k
transformation matnx.
3. (a) Construct the link coordinate diagram using D-H algorithm for the SCARA robot 10
TTool
Base anc* Kinematic parameters.
(b) What is TCV ? Explain its role in the solution of inverse kinematic problem.
10
10
10
Find the inverse kinematic solution of Microbot Alpha-ll robot.
Determine the tool configuration vector of SCARA robot,when
9 = {% %, 120, y2f
a = {425, 375, 0, 0}T mm
d = {877, 0, 93, 200 }T mm
What is difference between path and trajectory ?
Define Joint space work envelope, Dexterous work envelope.
Compute the maximum h&rizontal and vertical reach and vertical stroke of four axis Adept one SCARA robot.
Explain robot task planner in brief with the help of block d agram.
Explain the bounded deviation algorithm method for achiving straight line path In tool configuration space.
What are the template matching techniques explain one in detail ?
(a)
(b)
4.
2
2
6
10
10
10
(a)
(b) (c)
5.
(d)
(a)
(b)
7. (a)
6.
Consider the 8 x to binary image shown In figure. Compute the zeroth, first and 10 second order moments of the foreground region R, also compute second order normalized central moment:
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10
(b)
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Attachment: |
| Earning: Approval pending. |
