STUPIDSID
1 (a)
Explain and draw basic four steps for transferring Frame k-1 to frame k
5 M
1 (b)
Explain the basic steps involved in bounded deviation algorithm for straight line motion
5 M
1 (c)
Define Pixel function, Shrink Operator and Swell operator
5 M
1 (d)
What are the advantages & disadvantages of PLC system .
5 M
2 (a)
What is the inverse kinematics problem and state different methods to solve inverse kinematics problem in brief.
10 M
2 (b)
Explain the conditions for the existence of the Inverse Kinematics
solutions
4 M
2 (c)
Define total work envelope, joint space work envelope, dexterous work envelope ,with their relevant formulas and with a neat sketch.
6 M
3 (a)
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
3 (b)
Find a single composite transformation matrix T ( TYPR only with numeric values ) which maps the tool coordinates M into the wrist coordinates
F following the sequence of rotations of M frame about the unit vectors of F
10 M
4 (a)
Explain with example normalization of the performance index for removing the effects of average light intensity.
10 M
4 (b)
What are area descriptors? What are its advantages over line descriptors?
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) Classification of robots
ii) linear interpolation method
iii)Screw transformation
iv) Gross motion planning,
i) Classification of robots
ii) linear interpolation method
iii)Screw transformation
iv) Gross motion planning,
20 M
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