STUPIDSID
1 (a)
Explain the why Inverse kinematics solution is not unique for generic robots.
5 M
1 (b)
What is the differentiate between Hard and Soft Automation.
5 M
1 (c)
How robots are classified?
5 M
1 (d)
Why dexterous work envelope is always smaller than the total work envelope.
5 M
2 (a)
Explain and develop DH algorithm for four axis ADAPT-1 SCARA robot.
10 M
2 (b)
Compute the joint variable vector q=[q1, q2, q3, q4]T for the following tool configuration vector of SCARA, w(q)=[692.82, 25, 527, 0, 0, -1.6487]T Where a1= 425mm, a2=375mm, a3=0, a4=0 and d1=877mm, d2=0, d3=q3, d4= 200mm.
10 M
3 (a)
Explain Inverse Kinematic analysis of four axis Robot arm.
10 M
3 (b)
Find the composite rotation matrix by rotating the tool about the fixed axis of F frame, with a yaw of \( \left ( \dfrac {\pi }{4} \right ), \) followed by a pitch of \( \left ( \dfrac {-\pi}{4} \right ) \) and finally a roll of \( \left ( \dfrac {\pi }{2} \right ) \) radians. If (p)M= (0, 0, 1)T Find [p]F.
10 M
4 (a)
Explain how straight line motion can be obtained using articulated robot.
10 M
4 (b)
Explain linear interpolation with parabolic blends. Discuss its advantages over piece wise linear interpolation.
10 M
5 (a)
Explain shrink and swell operators. How does swell operator help in image smoothing, explain with an example.
10 M
5 (b)
What are advantages of PLC's explain with examples, also state the specifications of PLC with Industrial application and manufacturer.
10 M
6 (a)
Compare traditional ladder diagram and PLC ladder diagram with examples.
10 M
6 (b)
Define moments & Identify them as a measure of similarity between any 2 regions
10 M
Write short notes on any two:
7 (a)
Template matching
10 M
7 (b)
Workspace fixtures
10 M
7 (c)
Perspective transformation
10 M
7 (d)
Gross motion planning.
10 M
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