STUPIDSID
1 (a)
How robots are classified?
5 M
1 (b)
Explain basic four steps for transferring Frame k-1 to frame k and write general
transformation matrix
5 M
1 (c)
Explain bounded deviation algorithm for straight line motion.
5 M
1 (d)
Define 1) Pixel function,2) Shrink Operator m 3) Swell operator 4) DOF
S) Dexterous work envelope
5 M
1 (e)
What are the advantages & disadvantages of PLC system .
5 M
2 (a)
Explain the characteristics of the Inverse Kinematics solutions, and what are the different methods to solve Inverse Kinematics problem
10 M
2 (b)
Show that the fundamental rotation and translation matrices associated with the unit vectors commute. i.e, Trans (λ, ik) Rot (&phi, k)= Rot (φ,k) Trans (λik)
10 M
3 (a)
F and M are two fixed and mobile right handed orthonormal coordinate frames . M frame was translated by 2 units along f1 axis of F and 2 units along axis f1 of P. Then , the M frame was rotated about axis f0 of F by π/2 radians . If (p)M = (0, 0, 1)T Find [p]F
10 M
3 (b)
Obtain the Inverse Kinematics solution of the 4 axis Adept - 1 SCARA robot with its IK algorithm starting from the arm matrix. Explain Each joint variable computation in brief.
10 M
4 (a)
Compare area descriptors over to line descriptors ?
5 M
4 (b)
Explain inverse arm kinematics solution for a 2 DOF articulated coordinate robot
5 M
4 (c)
Explain how to normalize the performance index for removing the effects of average light intensity
10 M
5 (a)
Explain how the chain code of a boundary is constructed?
10 M
5 (b)
Explain the template matching algorithm for object recognition.
10 M
6 (a)
Explain workspace analysis of 5 axis Rhino XR-3 Robot arm
10 M
6 (b)
Write a PLC ladder logic programme for 4 junction traffic light controller
10 M
7
Write a short note on
i) Specifications of robots ii) Linear interpolation method iii)Screw transformation iv) Gross motion planning
i) Specifications of robots ii) Linear interpolation method iii)Screw transformation iv) Gross motion planning
20 M
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