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PUNJAB TECHNICAL UNIVERSITY MCA - II (SEM 4) MAY 2008 : Robotics Engineering

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Roll No. ...................... Total No. of Questions : 13] [Total No. of Pages : 02 Paper ID [A0526] (Please fill this Paper ID in OMR Sheet) MCA (405 - B) (S05) (Sem. - 4th ) ROBOTICS ENGINEERING Time : 03 Hours Maximum Marks : 75 Instruction to Candidates: 1) 2) Section - A is Compulsory. Attempt any Five questions from Section - B. Section - A (15 2 = 30) Q1) a) Discuss applications of robots in welding industry. b) Draw a neat and labeled sketch (only) of Cartesian configuration robot. c) Differentiate between prismatic and revolute joints. d) Name any five end effectors used in robots. e) What is the difference between direct and indirect drives (transmission)? f) Differentiate between tool coordinates and joint coordinate systems. g) Enumerate difference between open loop and closed loop robotic systems. h) Explain the role of touch sensors in robot manipulation. i) What do you understand by homogenizing of transformations? j) Write a matrix for rotational transformation about z-axis. k) Write a short note on remote center compliance (RCC) device. l) Discuss role of template matching in image processing in robotics. m) What do you understand by repeatability of a robot? n) What is the difference between on-line and off-line programming? o) What information is required to write a robot program? D-462 P.T.O. Section - B (9 5 = 45) Q2) What do you mean by reach envelop of a robot? Sketch reach envelop of a jointed arm robot. Q3) Explain various types of grippers used in robotics. Q4) What is the difference in point-to point (PTP) and continuous path robots? Q5) Discuss various components of hydraulic drive system of a robot. Q6) Write a note on single axis PID controller. Q7) Sketch and explain 3-axis force sensor. Q8) Discuss various steps of a robot vision system. Q9) What do you understand by DH parameters and how these are worked out? Q10)What do you understand by Jacobians? Q11)What are the different methods of robot programming? Q12)Write the difference between VAL and RAIL programming languages. Q13)Generate a configuration space for the given scene. A is mobile part (pure translation) and B is an fixed obstacle. r is reference point on A. zzzz D-462 2

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Additional Info : Mca - II (sem 4) May 2008 Question Paper - Robotics Engineering
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