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Tuesday, March 28, 2017




Roll No.


MCA (Sem. - 4th)             
ROBOTICS ENGINEERING
SUBJECT CODE : MCA - 405-8 (N2) (Elective - I)
Paper ID : [80120]


                                     
Time : 03 Hours
Instruction to Candidates:
1) Attempt any one question from each Sections A, B, C, and D.
2) Section- E is Compulsory.
3) use on Non-programmable scientific calculator is allowed.



                                      Section - A

Q1) Explain why hydraulic actuators are least preferred in small size, mobile robots, draw and explain the schematics of hydraulic actuator and also differentiate the hydraulic and electric actuators.

Q2) Differentiate the industrial and service robots and explain the anatomy of
robot.


                                       Section - B

Q3) What are the proximity sensors, list various range sensors used in mobile robots, also explain three major limitations of sonar sensor.

Q4) Define direct and inverse kinematics, Draw and explain various joint link parameters, and also drive an equation for basic link transformation matrix by considering geometric relationship between adjacent links.


                                      Section - C

Q5) What is an importance of task planning in robots, considering a simple Example ,showing its initial coordinates and goal coordinates and also explain a suitable algorithm for obstacle avoidance in mobile robots.

Q6) Draw the differential drive robot in global reference frame and explain its
kinematics.

                                      Section - D

Q7) What is low level vision, Explain the block diagram of CCD line scanner sensor and also show the continuous image sampled uniformly in to an array of N rows and M columns, also quantities each sample in the form of Intensity.

Q8) Draw and explain the block diagram of control system for n- DOF
manipulator.

                                      Section - E

Q9)
a) Classify the Robots on the bases of work envelop/coordinates system.
b) Which proximity sensor in mobile robot will be suitable to avoid collision with transparent obstacle?
c) List various applications of space and underwater robots.
d) Classify the robots on the bases of performance characteristics.
e) How the PID parameters reduces the error in point to point trajectory. robots.
f) Explain and draw various types of the robot joints.
g) Differentiate the low and high level vision in robotics.
h) A robot manipulator is rotating from 0 degree to 150 degree, which
velocity sensor will be suitable to measure the manipulator velocity.
i) List various types of the end effector used in industrial and service
robots, which end effector will be suitable to lift the sheets made up of
porous ferromagnetic material, also draw the schematics.
j) List various languages used for programming of the robot, explain any

one.

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