Roll No. ......................

Total No. of Questions : 13] [Total No. of Pages : 02

J-3416[S-1272]
[2037]
MCA (Semester - 4th)
ROBOTICS ENGINEERING (MCA - 405B)

Time : 03 Hours Maximum Marks : 75

Instruction to Candidates:
1) Section - A is compulsory.
2) Attempt any Nine questions from Section - B.

Section - A<

(15 x 2 = 30)
Q1)
a) Mention laws of robotics.
b) Give various joint types and their symbols.
c) List various arm configurations and explain any two of them.
d) What are end effectors? Explain.
e) Highlight various design and control issues in robotics.
f) Why homogeneous coordinates are required in modeling of robotic
manipulators?
g) What are the various parameters for a link for kinematic modeling?
h) Why closed form analytical solutions are preferred over numerical iterative
solutions?
i) Explain PWM amplifiers.
j) Make a list of limitations of 2-D vision system.
k) Show how image storage requirements depend on spatial and amplitude
digitisation parameters.
l) Determine singularities for a 3-DOF planar arm with the revolute joints.
m) Compare joint space and cartesian space trajectory planning.
n) What are the various robot programming languages and environment?
o) How obstacles are represented in the case of dynamic modeling?

P.T.O.
 Section - B
(9 x 5 = 45)
Q2) Define the following:
(a) Load carrying capacity.
(b) Work volume.
(c) End effector.

Q3) Explain Euler angle representations in detail.

Q4) Obtain the direct kinematics equation of the 4-DOF selective compliance
assembly robot arm robots.

Q5) Describe in detail various transmitters and actuators.

Q6) Obtain analytical solutions of joint variables in the case of 5-DOF industrial
manipulator.

Q7) For a 2-DOF planar arm having both the links of unit length determine joint
velocities.

Q8) Determine the dynamic model of a 1-DOF, 1-axis planar manipulator with one
rotary joint (the inverted pendulum). Assume the link to be a thin cylinder
(slender member) with length L and mass M acting at the centroid of the link.
Obtain solution using Lagrange-Euler formulation.

Q9) Make a comparison of NE and LE formulations. Describe the advantages and

disadvantages Newton-Euler formulation.

Q10) A rotary joint moves from -15o to +45o in 3 seconds. Determine the polynomial
for a smooth trajectory, if the initial and final velocity and accelerations are
zero.

Q11) What are the two force-control strategies? Explain both of them in detail.

Q12)A shaft of stiffness 2000Nm/rad has inertia of 2 kg m2 . Determine the resonance

frequency of the shaft assuming a lumped model if the joint uses a direct
drive.

Q13) Write technical notes on the following.

(a) DH transformation.
(b) Position control of servomotors.

J-3416[S-1272] 2