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PUNJAB TECHNICAL UNIVERSITY MCA - II (SEM 4) SEP 2010 : 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) (LE) (Sem. - 4th) ROBOTICS ENGINEERING Time : 03 Hours Maximum Marks : 75 Instruction to Candidates: 1) Section - A is Compulsory. 2) Attempt any Nine questions from Section - B. Section - A Q1) (15 2 = 30) a) b) c) d) e) List five applications of space robots. List various advantages of mobile robots over stationary robots. Define Direct and Inverse kinematics of robot. Draw the work volume of gantry robot. What are the proximity sensors, which proximity sensor will be suitable to avoid collision between two mobile robots? f) Classify the robots on the basis of applications. g) Explain high level vision. h) What is point to point trajectory in robots. i) Explain and draw various types of the robot joints. j) List various issues related to selection of end effector. k) Which robot language is used in PUMA robot, list any three commands used. l) A robot manipulator is rotating from 0 degree to 90 degree, which velocity sensor will be suitable to measure the manipulator velocity and how it will work. m) Explain ant two techniques used to teach the robot. n) List various types of the end effector used in industrial and service robots. o) The objective is to handle one kilogram weight under water by using 2-DOF manipulator at a depth of twenty meters. Which actuator will be suitable for manipulation? A-541 P.T.O. Section - B Q2) (9 5 = 45) List various applications of robots. Explain floor cleaning applications in detail. Q3) List various touch sensors used therein a grippers of the robot, which touch sensor will be suitable to sense round ball shaped object. Q4) Explain kinematic chain of links proposed by D-H, identify various joint link parameters. Q5) Explain the decision theoretic pattern reorganization technique. Q6) Explain various advantages and disadvantages of servomotor over stepper motor. Q7) Consider an example related to motion of end effector in the space and list the program instructions using AL and AML motion statements. Q8) Draw and explain the block diagram showing the control of n DOF manipulator. Q9) Considering a simple example, design a suitable algorithm for obstacle avoidance in mobile robots. Q10) What is stereo vision. How stereo vision is used to reduce the ambiguity generated by single vision sensor. Q11) Draw the differential drive robot in global reference frame and explain its kinematics. Q12) Explain the principle of SONAR range sensor, and also explain what is retro reflection. Q13) Which points are to be considered for motion planning in unstructured environment? Suggest suitable sensors required to navigate in an environments consisting of humans and few other robots. kbkb A-541 2

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Additional Info : Mca - II (sem 4) September 2010 Question Paper - Robotics Engineering
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