JNTU World

ld

www.alljntuworld.in

JN
TU

or

OBJECTIVES
The objective of the course is to enable the student in;
I.
Understanding basic concepts of robots and their development.
II.
To know various configuration of robots used in industry, role of robots in industrial
automation.
III.
Analyze the forces acting on gripper and selection and design of grippers, actuators and
sensors.
IV.
Transformation of motion of robot endeffector with Denavit and Hartenberg parameters.
V.
Euler-Lagrange and Newton-Euler equations of motion are used for finding force and torque
required at each of the joint actuators.
Blooms
Course
S. No.
Question
Taxonomy
Outcomes
Level
UNIT-I
1
Discuss the following types of automation
Understanding
I
i. Fixed automation
2

ii. Flexible automation

Explain the following types of grippers with application
i. Magnetic grippers
ii. Vacuum cups.
a. Draw and explain the four basic configurations of
robot.
b. Explain the different types of joints used in robots with
neat sketch.
a. What are the various factors in grippers selection and
design? Explain.
b. What is meant by position and orientation of robot?
Explain RPY representation of orientation.
a. Define manipulator.
b. Describe the types of manipulators generally adopted
for basic motions 5. Establish the mathematical
expressions of forward transformation of a spatial 2
degree of freedom arm. With two revolute joints.

Applying

III

Remembering

Applying

III

Understanding

Page | 1

Downloaded From JNTU World (http://www.alljntuworld.in)

www.alljntuworld.in

6
7

JNTU World

Write a detailed note about programmable automation.

With the applications.
a. Define a Robot.
b. Discuss the advantages and disadvantages of using
robots in industry?
a. What is industrial automation? What are its types?
b. Compare hard automation with soft automation?

Understanding

Understanding

Applying

I
I

a. Explain how the performance of robotic system in studied?

b. Define repeatability, resolution and accuracy.

Analyzing

10

a. Discuss the gripper design considerations in robotics.

b. An industrial robot with a prismatic joint has a
telescoping range of 0.6m. The robots control memory
has the following bit storage capacity.
i. 10 bit storage capacity
ii. 12 bit storage capacity
Determine the control resolution for the two cases
separately.

Applying

JN
TU

UNIT II
Compute the homogeneous transformation representing a
translation of 3 units along the x-axis followed by a rotating of
/2 about the current z-axis followed by a translation of 1 unit
along the fixed y-axis. Sketch the frame. What are the
coordinates of the o1 with respect to the original frame in each
case.
A Cartesian co-ordinate robot of configuration L L L is to move
its three axes from position (x,y,z)=(0,5,5) to position
(x,y,z)=(20,35,15). All distance measures are given in mm the
maximum velocities for the three joints are respectively
20mm/sec 15 mm/sec and 10mm sec determine the time
required to move each joint if slew motion is used.
a. Explain the importance of homogenous transformations.
b. For the vector v=25i+10j+20k, perform a translation by a
distance of 8 in the x-direction, 5 in the y-direction and 0 in
the z-direction.
Draw any two Euler angle systems and show rotation and
angles.
Give Euler angles representation for the RPY system and derive
the rotation matrix.
Explain the homogeneous transformation matrix and interprete
the partitioning with application.

or

ld

Applying

IV

Applying

IV

Analyzing

Understanding

II

Applying

II

Applying

II

Applying

III

Applying

III

a. Find the transformation matrices for the following

operations on the point
^

2 i 8 j 3 k

i. Rotate 300 about x-axis and then translate -5 units

along y-axis.
ii. Translate 2 units along y-axis and rotate 600 about zaxis
For the point auvw=(6,2,4)T perform following operations.
a. Rotate 300 about the X axis, followed by translation
of 6 units anling Y axis.
b. Translate 6 units along Y axis, followed by rotation

Page | 2

Downloaded From JNTU World (http://www.alljntuworld.in)

www.alljntuworld.in

10

of 300 about X axis.

c. Rotate 600 about Z axis followed by translation of
10 units along the rotated U axis.
a. Briefly explain about the following
i. Homogeneous coordinates
ii. Homogenous Transformation
b. For the point 3i+7j+5k perform the following
operation:
Translates 6 units along Y then rotate 300 about X.
Find an expression for general rotational transformation
that rotates a body about arbitrary direction 1 k x i k y j
+k z k by an angle .
UNIT III

4
5
6
7

JN
TU

10
11

III

Analysis

III

Understanding

Applying

II

Applying

II

Analyzing

II

Applying

Applying

II

Analyzing

Analyzing

II

Understanding

Applying

II

Applying

II

Analyzing

Applying

II

or

2
3

Write short notes on

a. Direct and inverse kinematics
b. DH convention
Write short notes on inverse transforms.
a. Explain co-ordinate frame assignment of DH representation.
b. List the steps involved in DH convention.
Derive the arm matrices for a cylindrical robot. Hence obtain
the kinematic equations for the same.
Get Euler angles for system I representation by applying inverse
kinematic solution.
Derive the kinematic equations for the SCARA robot giving coordinate frame diagram and the kinematic parameters.
Using DH method and by symbolic sketch, write down the
transformation matrices for each link and determine the position
and orientation of end effector with respect to the base in a
Cartesian robot configuration.
a. Discuss about direct and inverse kinematics
b. Arrive at the rotation matrices for the angle of rotations ,
and about x,y and z axes respectively.
Define and illustrate the link and joint parameters. Explain their
uses.
Explain and derive inverse kinematic solution for the variables
of a cylindrical robot.
Derive the kinematic equation for the elbow manipulator with
co-ordinate frame diagram and kinematic parameters.
UNIT IV
Find the manipulator jacobian matrix j(q) of the two-axis planer
articulated robot shown in figure.

Analysis

ld

JNTU World

Compute the Jacobian J11 for the three linked spherical

manipulator.

Page | 3

Downloaded From JNTU World (http://www.alljntuworld.in)

www.alljntuworld.in

Find the 6 x 2 Jacobian for the first three links of a cylindrical

manipulator. Suppose a Cartesian robot with rolling, pitching
and yawing (Euler angles), find the rolling, pitching and yawing
of the DH matrix given by:
0 .5 2 7

0 .3 6 9
T
0 .7 6 6

0 .8 1 9

0 .4 3 9

0 .6 4 3

Applying

IV

0
0

0 .1

0 .1
dq

0
0

0 .2

and

ld

The Jacobian of robot at particular time is given. Calculate the

linear and angular differential motion of the robot hand.
2

0
B
0
0

0 .6 2 8

Find the total differential transformation caused by small

rotation about three axes of dx=0.1, dy =0.05 and dz=0.02 rad.
The hand frame of a robot with five degrees of freedom, its
numerical jacobian for the instant and a set of differential
motion are given. Find the new location of the hand after
differential motion.
0

0 .1

3
5

3
,B 0
2

0
1
1

JN
TU

0
T
0

Applying

IV

Analyzing

III

Applying

II

Applying

III

0 .5 7 4

or

JNTU World

0
0

and

0 .1

0 .1

d q 0 .0 5

0 .1
0

As a result of applying a set of differential motion to frame T is

given and it has changed about dT is also given. Find the
magnitude of the differential changes made (dx, dy, dz, dx, dy,
dz) and the differential operator with respect to T.
1

0
T
0

and

0 .1
dT
0 .1

0 .1

0 .1

0 .6

0 .5

0 .5

Page | 4

Downloaded From JNTU World (http://www.alljntuworld.in)

www.alljntuworld.in

10

4
5
6
7

Applying

II

Applying

II

Applying

II

Analysis

Applying

Understanding

Applying

II

Applying

II

Applying

II

Analyzing

Express the Jacobian matrix for the robot architecture shown in

figure.

UNIT V
a. Explain Newton-Euler formulation of a robotic system.
b. Derive the equation of motion for a single link manipulator
given mass and length of link.
a. What is Lagranjian?
b. Give derivation of Lagranjian-Euler formulation of joing
force/torque for single link manipulator of given length and
mass.
Explain the following briefly as applied to robot arm dynamics
analysis.
i. Kinematic energy
ii. Potential energy
iii. Joint velocities
Derive the equation of motion for a single link manipulator
given the mass and length of the link.
Give the derivation of Lagrange-Euler formulation for the joint
force/torque.
Derive the dynamic equation of motion for a Revolute-Prismatic
(RP) robot arm manipulator.
Develop a state model for the single link (single-axis) robot
manipulator, shown in Figure.

JN
TU

II

Express the Jacobian matrix for the robot architecture shown in

figure.

11

Analyzing

ld

a. What is Jacobian of a robot system?

b. Derive the Jacobian matrix for the to 2-link planer
manipulator.
Express the Jacobian matrix for SCARA robot shown in fig.

or

JNTU World

Page | 5

Downloaded From JNTU World (http://www.alljntuworld.in)

www.alljntuworld.in

a.

b.

a.
b.

UNIT VI
Determine the time required for each joint of a three-axis
RRR manipulator to travel the following distances using
slew motion; joint 1, 1000; joint 2, 300; and joint 3, 600. All
joints travel at a rotation velocity of 150/s.
Find expressions for the joint motion parameters by using
cubic polynomial fit in joint space scheme.
Use the following data: 0=20, f=70 t=3seec.
Enumerate trajectory generation of polynomial type.
One of the joints of articulated robot has to travel from
initial angle of 200 to final angle of 840 in 4 seconds. Using
3rd degree polynomials calculate joint angles at one, two,
three seconds.
Explain the parameters involved in path planning with 3rd
degree polynomial.
A single link rotary robot is required to move from (0)=450
to (2)=900 in two seconds. Joint velocity and acceleration
are zero at initial and final positions. What is the highest
degree polynomial that can be used to accomplish the
motion?
Explain the following terms
i. Trajectory
ii. Joint space trajectory planning.
A single link robot with a rotary joint is motionless at
0=150 it is desired to move the joint in a smooth manner to
f=750 in 3sec. Find the coefficients of a cubic which
accomplishes this motion and brings the arm to rest at the
goal.
Explain trajectory planning with respect to PTP robot
considering modified constant velocity of joint.
A single link rotary robot is required to move from (0)=450
to (2)=900 in two seconds. Joint velocity and acceleration

JN
TU

a.

b.

a.

b.

ld

10

Applying

a.
b.

Analysis

Applying

Applying

II

Understanding

II

Applying

II

Understanding

II

Understanding

II

or

a. Explain the Lagrance Eulers formulation for robot arm.

b. Differentiate clearly with reference to 2-jointed manipulator
of RR type and LL type.
Establish the dynamic model of a one axis robot (inverted
pendulum) with Newton-Euler formulation.
Derive a dynamic model for a two axis planar articulated robot
given the mass and length of the links

JNTU World

Page | 6

Downloaded From JNTU World (http://www.alljntuworld.in)

www.alljntuworld.in

7
8
9
10
11

Applying

Analyzing

Understanding

Understanding

Applying

II

JN
TU

or

are zero at initial and final positions. What is the highest

degree polynomial that can be used to accomplish the
motion?
Explain trajectory planning and show how trajectory planning is
done in case of PTP (Point-to-point) robot having constant
maximum velocity and finite acceleration and deceleration.
Describe different path control modes in robotics.
Discuss the advantages and disadvantages between joint space
and scheme and Cartesian-space schemes.
Enumerate trajectory generation polynomial types.
Explain the parameters involved in the path planning with 3rd
degree polynomial.
Explain the following
i. Manual programming
ii. Lead through teaching
UNIT VII
a. Compare the features of most commercially used electrical
actuators in robots.
b. A stepper motor is used to drive a prismatic joint of
Cartesian robot. Motor shaft is connected to a screw shaft
with a pitch of 3mm. The control resolution 0.6mm is
desired for the controller. Determine
i. Number of step angles in motor to achieve this
resolution.
ii. Pulse rate required to drive the joint with a linear speed
75mm per second.
a. Explain the following hydraulic actuator with a neat sketch:
i. Robot actuators
ii. Linear actuators
b. A hydraulic rotary vane actuator is used to drive the
revolute joint of cylindrical robot with power source
delivery of 27 cc/sec of oil at a pressure of 705N/cm2 the
outer and inner vane radius are 10cm and 5cm respectively.
Thickness of vane is 1cm. Determine angular velocity of
motion and torque in the motor shaft.
a. Give a brief classification of actuators used in robots.
b. Explain various types of touch sensors with neat sketch.
a. With a neat sketch explain tactile sensors and range sensors.
b. Explain features and application of hydraulic actuators in
robotics.
With a neat sketch explain the following hydraulic actuator.
i. Rotary actuator
ii. Linear actuator.
Compare the features of most commonly used electric actuators
in robotics.
Explain the performance and selection criteria of electric motors
in robotics.
With a neat sketch explain the tactile sensors and the range
sensors.
Explain the types of touch sensors with neat sketches.
a. Explain principle and construction of inductive type
proximity sensors.
b. Explain the constructions and operation of ultrasonic

ld

JNTU World

3
4

6
7
8

9
10

Understanding

Understanding

Understanding

Understanding

Understanding

Analyzing

II

Analyzing

Understanding

Understanding

Understanding

Page | 7

Downloaded From JNTU World (http://www.alljntuworld.in)

www.alljntuworld.in

2
3
4
5
6
7

Understanding

Applying

Analyzing

II

Applying

II

Applying

II

Understanding

Applying

II

Analyzing

Understanding
Understanding

V
I

Applying

II

JN
TU

8
9
10

Understanding

ld

12

proximity sensors.
a. Explain the working of DC servo Motor.
b. Discuss the principle of a Resolver.
Enlist the main elements of a hydraulic system used in robot and
explain their functions briefly.
UNIT VIII
a. What are the considerations of Robots in material handling?
b. What are the features of robot in machine loading and
unloading applications?
a. What are the applications of robots?
b. Explain spray painting by robots.
Explain function of robots in assembly and inspection
Explain various methods of part presentation in assembly
process
Explain pick and palce robots for machining operation die
costing and plastic moulding.
Explain use of Robots in the fields of welding and painting.
Explain with the neat diagram how Robot can be gainfully
employed in the inspection methods of component made in
large number.
Explain automation in inspection.
Explain various assembly systems configuration.
Explain compliances and remote control compliance device for
assembly operations.

or

11

JNTU World

Page | 8

Downloaded From JNTU World (http://www.alljntuworld.in)