STUPIDSID
1 (a)
Explain the process of edge detection
5 M
1 (b)
Explain programming languages used for PLC, explain any one language in brief.
5 M
1 (c)
Explain the following terms, Tool path, Tool trajectory, DOF,TCV, TWE.
5 M
1 (d)
Write any three points why inverse kinematic solution is not unique
5 M
2 (a)
Using DH algorithm perform direct kinematic analysis of four axis ADAPT-
1 SCARA robot.
10 M
2 (b)
Compute the joint variable vector q=[q1, q2, q3, q4]7 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=877 mm, d2=0, d3=q3, d4=200mm.
SCARA w(q)=[692.82,25,527,0,0,-1.6487]T, where
a1=425mm, a2=375mm, a3=0, a4=0, and d1=877 mm, d2=0, d3=q3, d4=200mm.
10 M
3 (a)
Discuss Inverse kinematic analysis of five axis Microbot a-II Articulated 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 \[( \frac{\pi }{2} \right )\] followed by a pitch of \[\left ( \frac{-\pi }{2} \right )\] and finally a roll of\[ \left ( \frac{\pi }{2} \right )\] radians. If (p)M = (0, 0. 0.6)T Find [p]f
10 M
4 (a)
Explian how straight line motion can be obtained using articulated robot
10 M
4 (b)
Differentiate between path and trajectory. Define SDF. Explain in brief how continuous motion path trajectory is generated.
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)
Write short note on corner point detection.
10 M
Write short notes on (any two)
7 (a)
Template matching
10 M
7 (b)
Workspace fixtures
10 M
7 (c)
Screw transformation
10 M
7 (d)
Gross motion planning
10 M
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