VALLIAMMAI ENGINEERING COLLEGE

SRM Nagar, Kattankulathur – 603 203

DEPARTMENT OF

ELECTRONICS AND INSTRUMENATION ENGINEERING

QUESTION BANK

VIII SEMESTER

IC6003 -PRINCIPLES OF ROBOTICS

Regulation – 2013

Academic Year 2017 – 18

Prepared by

Ms. K.S.Jaibhavani, Assistant Professor (Sel.G) / EIE

Mr. N. Sowrirajan, Assistant Professor (O.G) /EIE
 VALLIAMMAI ENGINEERING COLLEGE
SRM Nagar, Kattankulathur – 603 203.
DEPARTMENT OFELECTRONICS AND INSTRUMENATION ENGINEERING

QUESTION BANK
SUBJECT : IC6003 -PRINCIPLES OF ROBOTICS

SEM / YEAR :VIII / IV

UNIT I - BASIC CONCEPTS

Brief history-Types of Robot–Technology-Robot classifications and specifications-Design and control
issues- Various manipulators – Sensors
UNIT I -BASIC
- work CONCEPTS
cell - Programming languages.
PART - A
Q.No Questions BT Competence
Level
1. What is meant by robot anatomy? BLT-1 Remember
2. Write Asimov`s laws of robotics. BLT-1 Remember
3. What is gear ratio? BLT-1 Remember
4. Examine the role of tactile sensor. BLT-3 Apply
5. Define actuators. BLT-1 Remember
6. What is a DDR? What is its advantages? BLT-1 Remember
7. Give the advantages of active gripper. BLT-2 Remember
8. Define work volume. BLT-1 Understand
9. Show the features of Mechanical grippers. BLT-3 Apply
10. Summarize the advantages of off line robot programming? BLT-5 Evaluate
11. What are the functions of work cell controller? BLT-4 Analyze
12. List various classifications of Robot. BLT-6 Create
13. Discriminate the internal and external state sensor. BLT-5 Evaluate
14. Give the four robot applications in manufacturing field. BLT-2 Understand
15. What is the difference between world reference frame and joint BLT-4 Analyze
reference frame?
16. Distinguish between tactile and force sensor. BLT-2 Understand
17. List out any four robot programming languages. BLT-4 Analyze
18. Justify whether the following statement is true or false.
Degrees of freedom depend upon the number of actuators used in BLT-6 Create
a robot.
19. Show the various types of Manipulator. BLT-3 Apply
20. Discuss about the Robot specification. BLT-2 Understand
PART - B
1. (i) List and explain the various generations of robots. (8)
BLT-1 Remember
(ii) State and derive Asimov’s laws of robotics. Also give its
features and its limitations. (8)
2. With necessary diagrams explain the different types of BLT-5 Evaluate
robots.(16)
3. (i) Describe salient features of robot in different field
applications. (8) BLT-2 Understand
(ii) Discuss about micro machines in robotics. (8)
4. (i) Discuss about the sensors used in the robots. (8)
BLT-2 Understand
(ii) Summarize the application of tactile sensors with suitable
example. (8)
5. (i) What is robot software? List the advantage and
disadvantages of off-line. (8) BLT-1 Remember
(ii) Enumerate the issues related to design and control. (8)
6. (i) Discuss about robot machine interface with neat diagram.
(8) BLT-2 Understand
programming. Explain the different robot layouts
(ii) With neat sketch describe the multiple robot coordination
in manufacturing industries. (8)
7. Demonstrate the robot cell construction and its working principle. BLT-3 Apply
(16)
8. (i) Explain about the various generation of Industrial robots
used in Engineering application in detail.(8)
BLT-4 Analyze
(ii) Explain the different stages of machine vision system and
( systems. (8)
illumination
i
9. With neat sketches
i explain the classification of robot based on
(i) Configuration
) (ii) Degrees of Freedom (iii) Work volume BLT-3 Apply
(iv)Controls (4ix 4 = 16)
i
10. Design suitable procedure for wall climbing algorithm with flow BLT-6 Create
)
chart. (16)
11. (i) List the advantages of four common robot configuration.
(8)
BLT-1 Remember
(ii) Draw simple sketches of four common robot
configurations. (8)
12. (i) List the different types of position sensors used in
robot?(8) BLT-1 Remember
(ii) Describe about the various mechanical manipulators. (8)
13. With neat sketches explain the working principle of BLT-4 Analyze
(i) Proximity sensor (ii)Robot Work cell (2 x 8 = 16)
14. (i) What are grippers? Point out the use of various grippers in
robot. (8)
BLT-4 Analyze
(ii) Point out the various types of end effectors used in robot.
Explain anyone type.(8)
 UNIT II -DIRECT AND INVERSE KINEMATICS
Mathematical representation of Robots - Position and orientation –HomogeneousTransformation -
Various joints- Representation using the DenavitHattenberg parameters -Degrees of freedom-Direct
Kinematics-Inverse kinematics-PUMA560 & SCARA robots- Solvability – Solution methods-Closed
form solution.
PART - A
Q.No Questions BT Competence
Level
1. Determine co- ordinate of the robot having arm length of 500 BLT-5 Evaluate
mm initial position is (5,10) and rotates at an angle of 300
clockwise.
2. An RR robot has two links of length 1m. Assuming that the BLT-5 Evaluate
origin of the global co-ordinate system is at joint J1. Determine
the joint rotation of the end effector located at (2, 5).
3. Differentiate between the kinematics and dynamics. BLT-4 Analyze
4. What is forward kinematics and where it can be applied? BLT-3 Apply
5. Perform the following transformation on point (15, 0, 2), Rot (z, BLT-6 Create
90).
6. Write the Denavit-Hartenberg matrix. BLT-1 Remember
7. What is meant by ‘unit quarternion’? BLT-1 Remember
8. Write the direct kinematic equation of a 3 DOF TRR BLT-2 Understand
configuration robot.
9. What are DH parameters? BLT-1 Remember
10. Give a note on Robot kinematics. BLT-2 Understand
11. Write down a homogeneous transformation matrix, used in BLT-2 Understand
robotics, and explain its components.
12. Show Roll, Pitch, Yaw angles using x, y, z axis BLT-3 Apply
13. If a point P=4.2i-6.8j-8k rotates about X axis in CCW direction BLT-6 Create
for 300 and then translates 5 units along X axis and 6 units along
Z axis, find the new point
14. What is the torque-inertia-angular-acceleration relationship for a BLT-1 Remember
rigid body?
15. How do you represent a point in space in matrix representation? BLT-4 Analyze
16. Define PUMA560 . BLT-1 Remember
17. Define SCARA robots BLT-1 Remember
18. Discuss about the direct Kinematics. BLT-2 Understand
19. Point out the various types of joints. BLT-4 Analyze
20. Demonstrate the concept of Inverse Kinematics. BLT-3 Apply
PART - B
1. (i) Summarize in detail about robot kinematics. (6)
 (ii) Consider the two frames {A} and{B}. The frame {B} is BLT-5 Evaluate
rotated with respect to frame {A} by 300 around z-axis
and origin of {B} is shifted with respect to the origin of
{A} by [5, 10, 15]. The ZA and ZB axis are parallel. A
point P is described in {B} by (4, 2, 3). Evaluate the
same point with respect to {A} using transformation
A
matrix { B T}. (10)
2. (i) What are the parameters for a link for kinematic
modeling? (4)
(ii) Which of these parameters are variable and which are
constant for (a) a revolute joint and (b) a prismatic joint? BLT-1 Remember
(6+6)

3. For the simple robot shown in the figure , assign the

necessary frames based on D- H representation, and fill
out the D-H table. (16)

BLT-6 Create

4. Describe in detail about the transformation of vector. (16) BLT-1 Remember

5. Explainin detail about Denavit- Hartenberg representation of BLT-4 Analyze

forward kinematic equations of robots. (16)
6. (i) Describe about the position and orientation of a point P in
a coordinate frame. (8) BLT-1 Remember
(ii) Describe about the mapping between Rotated frames. (8)
7. Obtain the orientation and position of tool point P of the joint
variable vector is q = [90o -45o 100mm] T with x1 = 50mm and x2
= 40 mm for the 3 – DOF RRP manipulator arm shown in figure.
(16)

BLT-3 Apply

8. Consider the forward transformation of two-joint manipulator

shown in fig. Given that the length of the joint 1, L1 = 120 mm,
Length of joint 2, L2 = 100mm, the angleθ1 =300, and the angle θ2
=450, compute the coordinate position (x and y coordinated) for
the end of arm Pw. (16)

BLT-3 Apply

9. Derive and Analyze the direct kinematics equation of PUMA 560 BLT-4 Analyse
robot using D-H transformation matrix. (16)
10. (i) Obtain the transformation matrix representation in the
forward kinematic equation for position using (4+4)
(1) Cartesian coordinates (2) Cylindrical coordinates
BLT-2 Understand
(ii) It is desired position the origin of a hand frame of a
Cartesian robot at a point p= [3,4,7]T. Estimate the
necessary Cartesian coordinate motions that need to be
made. (8)
 11. Derive the direct kinematics equation of SCARA robot using D- BLT-4 Analyse
H transformation matrix. (16)
12. (i) Draw the work volume of SCARA robot. (4)
(ii) Derive the Denavit–Hartenberg (D-H) Transformation
matrix.(8)
(iii) What is the inverse transformation and how should it be BLT-1 Remember
interpreted? (4)
13. (i) Discuss about the term closed form solutions. (8)
BLT-2 Understand
(ii) Discuss about the design guidelines to obtain closed form
solutions. (8)
14. (i) Discuss the different inputs to an inverse kinematics
algorithm. (8) BLT-2 Understand
(ii) Summarizethe solution of a simple inverse kinematic
algorithm. Elucidate on Jacobian work envelope. (8)

UNIT III - MANIPULATOR DIFFERENTIAL MOTION AND STATICS

Linear and angular velocities-Manipulator Jacobian-Prismatic and rotary joints–Inverse -Wrist and arm
singularity - Static analysis - Force and moment Balance.
PART - A
Q.No Questions BT Competence
Level
1. When Jacobian becomes singular? BLT-2 Understand
2. What are the types of joint in between the links? BLT-5 Evaluate
3. Discuss about the boundary singularities? BLT-2 Understand
4. Give an expression relating R, the rotation matrix, and the BLT-2 Understand
angular velocity.
5. Give the difference between the prismatic and rotary joints? BLT-2 Understand

6. Infer Jacobian matrix for y=f(x), where y, f and x are 6 x 1 BLT-5 Evaluate
vectors.
7. Define Linear velocity. BLT-1 Remember
8. Define Angular velocity. BLT-1 Remember
9. Show the non-singularity of a matrix. BLT-3 Apply
10. Classify the singularities. BLT-3 Apply
11. Define the term Lagrangian function.
velocity. BLT-4 Analyse
12. What is meant by interior singularities? BLT-4 Analyse
13. Differentiate Joint space and Cartesian space. BLT-4 Analyse
14. Define free vector. BLT-1 Remember
15. Design Spherical wrist at a singularity configuration. BLT-6 Create
16. Design 3-DOF articulated manipulator arm. BLT-6 Create
17. Define Inverse Jacobian BLT-1 Remember
18. What is meant by arm singularities? BLT-1 Remember
19. What is meant by wrist singularities? BLT-1 Remember
20. Distinguish serial and parallel manipulator. BLT-3 Apply
PART - B
1. (i) Enumerate with neat schematic diagram Cartesian
space moments of a two degree of freedom robot. (8)
BLT-1 Remember
(ii) Write the expressions for linear and angular velocity of
a rigid body and also the linear velocity due to angular
motion and combined angular and linear motion. (8)
2. Calculate the velocity of the tip of the two link , planar, RR
manipulator arm shown in figure . (16)

BLT-5 Evaluate

3. (i) The hand frame of a robot and the corresponding

Jacobian are given. For the given differential changes
of joints, compute the change in the hand frame, its
new location, and corresponding∆. (8)

0 1 0 10
1 0 0 5
T6 =[ ]
0 0 −1 0
0 0 0 1 BLT-3 Apply

8 0 0 0 0 0 0
−3 0 1 0 0 0 0.1
0 10 0 0 0 0 −0.1
J= D=
0 1 0 0 1 0 0.2
0 0 0 1 0 0 0.2
[−1 0 0 0 0 1] [ 0 ]
 (ii) The jacobian of a robot at particular time is given.
Calculate the linear and angular differential motions of
the robot’s hand frame for the given joint differential
motions. (8)

2 0 0 0 1 0 0
−1 0 1 0 0 0 0.1
0 1 0 0 0 0 −0.1
J= D=
0 0 0 2 0 0 0
0 0 1 0 0 0 0
[0 0 0 0 0 1] [ 0.2 ]

4. Derive an expression for manipulator moving with

(i) Linear velocity. (8) BLT6 Create
(ii)Angular velocity. (8)
5. Evaluate the manipulator Jacobian in an forward differential
motion model and also compute the Jacobian matrix,
Singularities and joint velocities of 3-articulated arm which BLT-3 Apply
applies a force F with its end effector, also determine the
torques required at the joints to maintain static equilibrium.
(16)
6. Express the jacobian matrix for motion of end-effecter
BLT-2 Understand
generated by a rotary joint and prismatic joint.(16)

7. Explain the following:

(i) Wrist and arm singularity (8) BLT-4 Analyse
(ii) Linear and Angular velocities (8)
8. (i) Discus about the two- degree – of freedom robots. (8) Understand
BLT-2
(ii)Derive the dynamic equations for a 2-R (revolute) planar
robot using Euler method. (8)
9. Discuss about the Jacobian singularities and computation of BLT-2 Understand
wrist and arm singularities. (16)
10. Find the force and torque acting on link I in the static
BLT-1 Remember
equilibrium with necessary equations and diagrams(16)

11. Define Jacobian and Write the manipulator Jacobian matrix for
BLT-1 Remember
the 3-DOF articulated arm with suitable example. (16)

12. Describe the singularities of the RPY wrist with suitable BLT-1 Remember
example. (16)
13. For the 2-DOF-planar arm shown in Fig. Assuming both the
links of unit length discover
(i)The Configuration singularities (8)
(ii)The joint velocities in term of end point velocities. (8)

BLT-4 Analyze

14. (i) For the manipulator shown in fig. Analyze the Jacobian to
express the Cartesian velocities in term of the joint
velocities. (10)

BLT-4 Analyze

(ii) Obtain the singularities of the manipulator as shown in

above fig.(6)
 UNIT IV- PATH PLANNING
Definition-Joint space technique-Use of p-degree polynomial-Cubic polynomial-Cartesian space
technique - Parametric descriptions - Straight line and circular paths - Position and orientation
planning.
PART - A
Q.N Questions BT Competence
oo Level
1. Define path. BLT-1 Remember
2. Analyse the suitable method for trajectory planning. BLT-4 Analyze
3. Show the trajectory is different form path. BLT-3 Apply
4. What is a Cartesian manipulator? BLT-1 Remember
5. Showthe difference between joint-space and Cartesian-space BLT-3 Apply
description of trajectory planning.
6. Write the Lagrangian-Euler formula for dynamic model. BLT-4 Analyze
7. Mention the need of continuous Trajectory Recording? BLT-3 Apply
8. Trajectories are mostly planned in joint-space. Justify. BLT-5 Evaluate
9. State any four boundary and blending conditions that can be BLT-1 Remember
used to solve unknown coefficients and plan the trajectory.
10. What is trajectory planning? BLT-1 Remember
11. Define 'Lagrange function'. BLT-1 Remember
12. List out the advantages of recursive Newton Euler formulation BLT-1 Remember

13. Distinguish between Lagrangian and Lagrangian-Euler BLT-2 Understand

formulation methods
14. Compare forward and backward iteration in recursive Newton- BLT-5 Evaluate
Euler formulation
15. Give four constraints on the planned trajectory. BLT-2 Understand
16. Discuss Joint Space Trajectory planning. BLT-2 Understand
17. Summarize the procedures involved in Cartesian space BLT-2 Understand
Trajectory planning.
18. Create various steps in Trajectory planning. BLT-6 Create
19. Analyzethe use of a p-degree polynomial as interpolation BLT-4 Analyse
function
20. Design the steps in orientation planning. BLT-6 Create
PART - B
1. Evaluate the time history of the position, velocity and
acceleration of the end effector of a 5 DOF manipulator, which
moves from start to goal point via two intermediate points. The
desired end effector motion is specified in the table shown.
Assume a cubic spline trajectory in segments. (16)
BLT-5 Evaluate
End effector Path point (j)
1 2 3 4
Position q
j
0 3π/2 -π/2 2π
Velovity qj 0 -π/2 π 0
T.time tj 0 3 5 2

2. The trajectory of a particular joint is specified as follows: path

points in degree: 10, 35, 25, and 10. The duration of these three
segments should be 2, 1, and 3 seconds, respectively. The BLT-3 Apply
magnitude of the default acceleration to use at all blend points
is 50 degrees/second2. Calculate all segment velocities, blend
times, and linear times. (16)
3. (i) Demonstrate the basics of trajectory planning. (6)
(ii) It is desired to have the first joint of a six-axis robot go
from initial angle of 350 to a final angle of 700 in 6 BLT-3 Apply
seconds. Using a third order polynomial, calculate the
joint angle at 1, 2 and 3 seconds. (10)

4. (i) Describe in detail about the control of robot manipulators

in joint space trajectories. (10) BLT-1 Remember
(ii) Write short notes on position, velocity and acceleration
curves for trajectory. (6)
5. (i) Describe about the various terminology involved in
planning.
trajectory planning. (8)
BLT-1 Remember
(ii) List the various steps involved in trajectory planning. (8)

6. (i) Point out the features required in a joint space trajectory

planning algorithm. (8)
BLT-4 Analyse
(ii) Draw the pictorial representation of smooth function for
motion to goal position and explain in detail. (8)
7. Discuss in detail about the use of p-Degree polynomial as BLT-2 Understand
interpolation function. (16)
8. Express the time history of position velocity and acceleration
for blended trajectory for point-to-point motion with via points. BLT-2 Understand
(16)
9. Discuss in detail about the Joint-Space versus Cartesian space BLT-2 Understand
trajectory planning. (16)
10. Discuss in detail about the position and orientation planning. BLT-6 Create
(16)
 11. A six DOF robot go from initial angle 300 to a final angle of 750
in 5 seconds with the initial acceleration and final acceleration BLT-1 Remember
of 5 degree/sec2. Find the motion equations.(16)
12. Describe the time history of position velocity and acceleration
for blended trajectory for point-to-point motion without via BLT-1 Remember
points. (16)
13. (i) Point out the problem of obtaining cubic polynomial
trajectories for a point to point motion without viapoints.
(8)
(ii) A one degree of freedom manipulator with rotary joint
is to move from 113 degrees to 210 degrees in 7 BLT-4 Analyze
seconds. Find the coefficient of the cubic polynomial to
interpolate a smooth trajectory. Analyze the position
velocity and acceleration variation as a function of time.
(8)
14. (i) The second joint of SCARA manipulator is required to
move from θ2 = 30 to 155 in 5 seconds. Find the cubic
polynomial to generate the smooth trajectory for the BLT-4 Analyze
joint. (12)
(ii) Analyze the maximum velocity and acceleration for this
trajectory. (4)

UNIT V -DYNAMICS AND CONTROL

Lagrangian mechanics-2DOF Manipulator-Lagrange Euler formulation-Dynamic model –
Manipulator control problem-Linear control schemes-PID control scheme-Force control of
robotic manipulator.
PART - A
Q.No Questions BT Competence
Level
1. What are open and closed loop control? BLT-1 Remember
2. Give the differential equation for a second order under BLT-2 Understand
damped system and show typical step response.
3. Express the dynamic equation of a serial robotic BLT-2 Understand
manipulator and explain each component.
4. Compare Lagrange and Newton-Euler formulation of BLT-4 Analyse
robot dynamics.
5. Give the form of dynamic equation (in matrix/vector BLT-2 Understand
form) of a serial link n degree of freedom robot. Name
each term and mention the size of matrix/vectors.
6. Analyze the PID control schemes. BLT-4 Analyse
7. Distinguish between continuous and discrete time BLT-2 Understand
control.
8. State major assumptions to be made in the control of a BLT-1 Remember
single joint.
 9. Show thepreparation of convolution mask. BLT-3 Apply
10. Quote the response of PI controller for any 2nd order BLT-1 Remember
system.
11. Classify the different linear control strategies. BLT-3 Apply
12. Differentiate natural constraints and artificial constraints BLT-4 Analyse
in force control task.
13. Linear control technique is used for Robot manipulator. BLT-5 Evaluate
Justify this statement.
14. Summarize the types of actuators. BLT-5 Evaluate
15. Develop the block diagram of a manipulator control BLT-6 Create
16. system.
Describe the schematic of robot control system. BLT-1 Remember
17. Design a single degree of freedom system BLT-6 Create
18. Illustrate about natural constraint. BLT-3 Apply
19. Define artificial constraint. BLT-1 Remember
20. Draw the schematic of 2-DOF manipulator BLT-1 Remember
PART - B
1. (i) Describe the open and closed loop control system
used in robotics with block diagram. (8)
(ii) List the different types of mechanical gripper with BLT-1 Remember
simple sketches along with its industrial
applications. (8)
2. (i) Describe the linear control schemes available in the
control of manipulator. (8)
BLT-1 Remember
(ii) Describe about the PID control scheme which
.(8)
eliminates the steady state error in robot
manipulator. (8)
3. (i) Explaintypical hierarchical computer architecture
of a robot control system. (8) BLT-4 Analyze
(ii) Explain the application of robot in material
handling. (8)
4. (i) Describe the linear control of robot manipulation in
detail with necessary block diagram (8) BLT-1 Remember
(ii) List the pros and cons involved in linear and non-
linear control of robot manipulation. (8)
5. (i) Evaluate a dynamic model for a single (rotary) link
actuated by a dc motor. (8) BLT-5 Evaluate
Obtain the transfer function for position control,
(ii) neglecting the armature inductance. (8)
6. Demonstrate the block diagram of model-based
(i)
trajectory-following controller for a second
order system (8) BLT-3 Apply
Show that the above model based closed loop
(ii) system is stable. (8)
7. Design a dynamic model for a single (rotary) link BLT-6 Create
actuated by a DC motor. (16)
8. Describe about the Lagrangian Euler formulation with an BLT-2 Understand
example. (16)
9. Discuss the influencing parameters that are involved in Understand
BLT-2
developing inverse dynamic model of 2 DOF robots. (16)
10. (i) Give the natural and artificial constraints for the
task of uncorking a bottle of champagne with a
manipulator. Make any reasonable assumptions
needed. Show your definition of {C} in a BLT-1 Remember
sketch.(10)
(ii) Describe with neat schematic diagram with a
trajectory following controller for a damped
spring-mass system with an actuator. (6)
11. Explain the following
(i) Lagrange Euler Formulation. (8) BLT-2 Understand
(ii) Force control of robotic manipulator. (8)
12. Illustrate the effect of moment of inertia in a dynamic BLT-3 Apply
modeling of the system. (16)
13. Explain the general force control strategies with the
detailed view of hybrid position / Force control scheme BLT-4 Analyze
(16)
14. (i) Analyze the dynamic model of 2 DOF manipulator
using the Lagrange – Euler formulation. (8) BLT-4 Analyze
(ii) Discuss the LE Dynamic model algorithm. (8)