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 2018 – 19

Prepared by

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 - work cell - Programming languages.
PART - A
BT
Q.No Questions Competence
Level
1. What is meant by robot anatomy? 1 Remember
2. Write Asimov`s laws of robotics. 1 Remember
3. What is gear ratio? 1 Remember
4. Examine the role of tactile sensor. 3 Apply
5. Define actuators. 1 Remember
6. What is a DDR? What are its advantages? 1 Remember
7. Define End effector. 2 Understand
8. Define work volume. 1 Remember
9. Show the features of Mechanical grippers. 3 Apply
10. Summarize the advantages of off line robot programming. 5 Evaluate
11. What are the functions of work cell controller? 4 Analyze
12. List the types of robots and compose the various classifications of 6 Create
Robot.
13. Discriminate the internal and external state sensor. 5 Evaluate
14. Give four robot applications in manufacturing field. 2 Understand
15. What is the difference between world reference frame and joint 4 Analyze
reference frame?
16. Distinguish between tactile and force sensor. 2 Understand
17. List out any four robot programming languages. 4 Analyze
18. Justify whether the following statement is true or false.
Degrees of freedom depend upon the number of actuators used in a 6 Create
robot.
19. Show the various types of Manipulator. 3 Apply
20. Summarize the Robot specification. 2 Understand
PART – B
1. (i) List and explain the various generations of robots.(7) 1 Remember
 (ii) State and derive Asimov’s laws of robotics. Also give its
features and its limitations.(6)
2. With necessary diagrams explain the different types of robots.(13) 5 Evaluate
3. Describe salient features of robot in different field applications. (13) 2 Understand
4. (i) Describe about the construction of robot cell. (7)
(ii) Summarize the application of tactile sensors with suitable 2 Understand
example.(6)
5. (i) What is robot software? List the advantage and disadvantages of
off-line.(7) 1 Remember
(ii) Enumerate the issues related to robot design and control.(6)
6. (i) Discuss about robot machine interface with neat diagram.(7)
(ii) With neat sketch describe the multiple robot coordination in 2 Understand
manufacturing.(6)
7. Discuss on various sensors used in robotics.(13) 2 Understand
8. (i) Explain about the various generation of Industrial robots used in
Engineering application in detail.(7) 4 Analyze
(ii) Explain the different stages of machine vision system and
( systems. (6)
illumination
i
9. With neat sketches explain the classification of robot based on
(i) i
Configuration (4)
(ii) )
Degrees of Freedom (4) 3 Apply
(iii) Worki volume (3)
(iv) i
Controls(2)
10. Generalize about) the programming language in robotics with an
6 Create
example.(13)
11. Summarize the advantages of four common robot configuration and 5 Evaluate
deduce their simple sketches. (13)
12. (i)
of theWhat are the different types of position sensors used in robot?(7)
configuration. 1 Remember
(ii) Describe about the various mechanical manipulators.(6)
13. With neat sketches explain the working principle of
(i) Proximity sensor (7) 4 Analyze
(ii) Robot Work cell(6)
14. (i) What are grippers? Point out the use of various grippers in
robot.(7)
4 Analyze
(ii) Point out the various types of end effectors used in robot.
Explain any one type.(6)
PART –C

1. Analyze about the structure of robot in detail.(15) 4 Analyze

2. Write short notes in application of robot in various fields in emerging 4 Analyze
technology. (15)
3. Explainthe design and control issues in robot.(15) 4 Analyze
4. Discuss about the Evolution of robots and robotics. (15) 6 Create
 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 mm 5 Evaluate
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 origin
of the global co-ordinate system is at joint J1. Determine the joint 5 Evaluate
end rotation of the effectors located at (2, 5).
3. Differentiate between the kinematics and dynamics. 4 Analyze
4. Demonstrate forward kinematics and where it can be applied. 3 Apply
5. Develop the following transformation on point (15, 0, 2) Rot (z, 90). 6 Create
6. Write the Denavit-Hartenberg matrix. 1 Remember
7. What is meant by ‘unit quarternion’? 1 Remember
8. Write the direct kinematic equation of a 3 DOF TRR configuration 2 Understand
robot.
9. What are DH parameters? 1 Remember
10. Give a note on Robot kinematics. 2 Understand
11. Definehomogeneous transformation matrix. 2 Understand
12. Show Roll, Pitch, Yaw angles using x, y, z axis 3 Apply
13. If a point P=4.2i-6.8j-8k rotates about X axis in CCW direction for
300 and then translates 5 units along X axis and 6 units along Z axis, 6 Create
find the new point.
14. List the inverse kinematics solution techniques. 1 Remember
15. How do you represent a point in space in matrix representation? 4 Analyze
16. representation?
Define PUMA560. 1 Remember
17. Define SCARA robots. 1 Remember
18. Give the concept of RWS. 2 Understand
19. Point out types of joints. 4 Analyze
20. Demonstrate the concept of Inverse Kinematics. 3 Apply
PART – B
1. (i) Summarizeindetail about robot dynamics.(7)
(ii) Develop the workspace of a two link planar manipulator.(6)
5 Evaluate
2. (i) What are the parameters for a link for kinematic modeling?
(7)
(ii) Which of these parameters are variable and which are 1 Remember
constant for (a) a revolute joint and (b) a prismatic joint? (6)
3. Rewrite the concept of link parameters in detail. (13) 6 Create
4. Describe in detail about the transformation of vector.(13) 1 Remember
5. Solve the inverse kinematic problem for the 4-DOF SCARA 4 Analyze
configuration manipulator.(13)
6 Create
6. (i) Describe about the position and orientation of a point P in a
coordinate frame.(7) 1 Remember
(ii) Describe about the mapping between Rotated frames.(6)
7. Illustrate about the kinematic modeling of the manipulator.(13) 3 Apply
8. (i) Discuss about the manipulator workspace.(7)
3 Apply
(ii) Discuss about the solvability of Inverse Kinematic Model.(6)

9. Derive and analyze the direct kinematics equation of PUMA 560 4 Analyze
robot using D-H transformation matrix. (13)
10. (i) Obtain the transformation matrix representation in the
forward kinematic equation for position using
(1) Cartesian coordinates (2) Cylindrical coordinates (7)
4 Analyze
(ii) It is desired to 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.(6)
11. Derive the direct kinematics equation of SCARA robot using D-H 2 Understand
transformation matrix. (13)
12. Explain Denavit-Hartenberg (DH) notation to develop the kinematic 1
model of a manipulator with neat diagram.(13)
13. Discuss
Derive theabout the kinematics
direct term closedequation
form solutions
of SCARAand design guidelines
robot using D-H 2 Understand
to obtain closedmatrix.
transformation form solutions.(13) 1 Remember
14. (i) Write short notes on Existence of solutions.(7) 2 Understand
(ii) Discus about the multiple solutions.(6)
PART – B
1. For the simple robot shown in the figure, assign the necessary
frames based on D- H representation, and fill out the
accommodate parameters table.(15)

5 Evaluate

2. A point P in space is defined as BP =[2,3,5]T relative to frame B,

which is attached to the origin of the reference frame A and is
parallel to it. Apply the following transformation to frame B and
findAP. Using the three-dimensional grid, plot the transformations 5 Evaluate
and the result. i) Rotate 900 about the x-axis, (ii) Then, rotate 900
about the local d-axis, (iii) Then translate 3 units about the y-axis, 6
units about the z-axis, and 5 units about the x-axis.(15)
 3. 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.(15)

6 Create

4. (i) Consider the two frames {A} and {B}. The frame {B} is
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 matrix { }.(8)
(ii) Consider the forward transformation of two-joint manipular
shown in fig. Given that the length of the joint 1, L1 = 120
mm, Length at joint 2, L2 = 100mm, the angle 1 =300, and
the angle 2 =450, compute the coordinate position (x and y
6 Create
coordinated) for the end of arm Pw.(7)

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? 2 Understand
2. What are the types of joint in between the links? 5 Evaluate
3. Discuss about the boundary singularities. 2 Understand
4. Give an expression relating R, the rotation matrix, and the 2 Understand
angular velocity.
5. Give the difference between the prismatic and rotary joints. 2 Understand
6. Infer Jacobian matrix for y=f(x), where y, f and x are 6x1 5 Evaluate
vectors.
7. Define Linear velocity of a rigid body. 1 Remember
8. Define Angular velocity. 1 Remember
9. Show the non-singularity of a matrix. 3 Apply
10. Classify the singularities. 3 Apply
11. velocity.
Define the term Lagrangian function. 4 Analyze
12. Differentiate boundary singularities and interior singularities. 4 Analyze
13. Differentiate Joint space and Cartesian space. 4 Analyze
14. Define free vector. 1 Remember
15. Design Spherical wrist at a singularity configuration. 6 Create
16. Design 3-DOF articulated manipulator arm. 6 Create
17. Define Inverse Jacobian. 1 Remember
18. What is meant by arm singularities? 1 Remember
19. What is meant by wrist singularities? 1 Remember
20. Distinguish serial and parallel manipulator. 3 Apply
PART – B
1. (i) Enumerate with neat schematic diagram Cartesian
space moments of a two degree of freedom robot.(7) 1 Remember
(ii) Explain about the need of Jacobian.(6)
2. Describe the following methods of computation of Jacobian.
(i) Prismatic Joint Jacobian. (7) 5 Evaluate
(ii) Rotary Joint Jacobian. (6)
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 . (7)

T6 =[ ]
3 Apply

J= Dɵ =

[ ] [ ]

(ii) Discuss about the term static analysis.(6)

4. Derive an expression for link for manipulator moving with 2 Understand
linear and angular velocity. (13)
5. Write short notes on the following term
6 Create
(i) Linear velocities. (7)
(ii) Angular velocities. (6)
6. Express the jacobian matrix for motion of end-effecter 3 Apply
generated by a prismatic joint.(13)
7. Explain the following:
(i) Wristsingularity. (7) 4 Analyze
(ii) Arm singularity.(6)
8. Derive the dynamic equations of the jacobian matrix for 2 Understand
motion of end-effecter generated by a rotary joint.(13)
9. Discuss about the Jacobian singularities.(13) 2 Understand
10. Find the force and torque acting on link I in the static 1 Remember
equilibrium with necessary equations and diagrams.(13)
11. Examine the manipulator Jacobian matrix for the 3-DOF 1 Remember
articulated arm with suitable example.(13)
12. Describe the singularities of the RPY wrist with suitable 1 Remember
example.(13)
13. Explain about the computation of singularities.(13) 4 Analyze
14. Explain about the rotary joint jacobian.(13) 4 Analyze
PART - C

1. For the manipulator shown in fig. Obtain the Jacobian to

express the Cartesian velocities in term of the joint
velocities.Obtain the singularities of the manipulator.(15)

4 Analyze
 2. Derive an expression for linear velocity due to angular motion
of given frame arrangement.(15)

4 Analyze

3. (i) 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.(7)

J= D= 6 Create

[ ] [ ]
(ii) If the link parameter a3of the PUMA 560 were zero, a
workspace boundary singularity would occur when ɵ3=
-900. Give an expression for the value of ɵ3. Where
the singularity occurs and show that, if a3were zero,
the result would be ɵ3= -900. Hint: In thid
configuration, a straight line passes through joint axes
2 and 3 and the point where axes 4,5 and 6 intersect.
(8)
4. Discuss on relationship between transformation matrix and 4 Analyze
velocity vector.(15)

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.No Questions BT Competence
1. Define path. 3
Level Apply
2. Analyze the suitable method for trajectory planning. 4 Analyze
3. Show any four intermediate constraints of the trajectory. 3 Apply
4. What is a Cartesian manipulator? 1 Remember
5. Show the difference between joint-space and Cartesian-space 3 Apply
description of trajectory planning.
6. Write the Lagrangian-Euler formula for dynamic model. 4 Analyze
7. Mention the need of continuous Trajectory Recording. 1 Remember
8. Trajectories are mostly planned in joint-space. Justify. 5 Evaluate
9. State any four boundary and blending conditions that can be 1 Remember
used to solve unknown coefficients and plan the trajectory
10. What is the trajectory planning? 1 Remember
11. Define 'Lagrange function'. 1 Remember
12. List out the advantages of recursive Newton Euler 1 Remember
formulation.
13. Distinguish between Lagrangian and Lagrangian-Euler 2 Understand
formulation methods.
14. Compare forward and backward iteration in recursive 5 Evaluate
Newton- Euler formulation.
15. Give four constraints on the planned trajectory. 2 Understand
16. Discuss Joint Space Trajectory planning. 2 Understand
17. Summarize the procedures involved in Cartesian space 2 Understand
Trajectory planning.
18. Create various steps in Trajectory planning. 6 Create
19. Analyze the use of a p-degree polynomial as interpolation 4 Analyze
function.
20. Design the steps in orientation planning. 6 Create
PART - B
1. Summarize the concept of parametric description of a 5 Evaluate
path.(13)
2. Demonstrate the parametric description of a circular path.(13) 3 Apply
3. (i) Demonstrate the basics of trajectory planning.(7)
(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 3 Apply
seconds. Using a third order polynomial,
calculate the joint angle at 1, 2 and 3 seconds.(6)
4. (i) Describe in detail about Cartesian space trajectories.(7)
1 Remember
(ii) Write short notes on position, velocity and acceleration
curves for trajectory.(6)
5. Describe about the various steps involved in trajectory 1 Remember
planning.
planning.(13)
6. (i) Point out the features required in a joint space trajectory
planning algorithm.(7) 4 Analyze
(ii) Draw the pictorial representation of smooth function for
motion to goal position and explain in detail.(6)
7. Discuss in detail about the use of p-Degree polynomial as 2 Understand
Interpolation function.(13)
8. Express the time history of position velocity and acceleration
for blended trajectory for point-to-point motion with via 2 Understand
points.(13)
9. Discuss in detail about the Joint-Space versus Cartesian space 2 Understand
trajectory planning.(13)
10. Discuss in detail about the position and orientation 1 Remember
planning.(13)
11. Discuss about the various terminology for trajectory 6 Create
planning.(13)
12. Describe the time history of position velocity and acceleration
1 Remember
for blended trajectory for point-to-point motion without via
points. (13)
13. (i) Point out the problem of obtaining cubic polynomial
trajectories for a point to point motion without via
points.(7)
(ii) A one degree of freedom manipulator with rotary joint 4 Analyze
is to move from 113 degrees to 210 degrees in 7
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.(6)
14. It is desired to have a first joint of a 6 axis robot to go from an
initial angle of 500 to a final angle of 800 in 3 seconds. Find
the coefficients for a third order polynomial joint-space 4 Analyze
trajectory. Determine the joint angles, velocities and
accelerations at 1, 2, 3 seconds,it is assumed that the robot
starts from rest and stops at its destination.(13)
PART - C
1. The second joint of SCARA manipulator is required to
move from 2 = 30 to 155 in 5 seconds. (i) Find the cubic
polynomial to generate the smooth trajectory for the joint. (ii) 4 Analyze
Analyze the maximum velocity and acceleration for this
trajectory.(15)
2. A six DOF robot go from initial angle 300 to a final angle of
750 in 5 seconds with the initial acceleration and final 4 Analyze
acceleration of 5 degree/sec2. Find the motion equations.(15)
3. 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 3secondsrespectively. The 5 Evaluate
magnitude of the default acceleration to use at all blend points
is 50 degrees/second2. Calculate all segment velocities, blend
times, and linear times. (15)
4. Joint 1 of a 6 axis robot is to go from initial angle of i =400 to
0
the final angle of f =120 in 6 seconds with a cruising
velocity of 1=10deg/sec. Evaluate the necessary blending 5 Evaluate
time for a trajectory with a linear segment and parabolic
blends, and plot the joint positions, velocities and
accelerations.(15)
 UNIT V - DYNAMICS AND CONTROL
Lagrangianmechanics-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? 1 Remember
2. Give the differential equation for a second order under 2 Understand
damped system and show typical step response.
3. Express the dynamic equation of a serial robotic manipulator 2 Understand
and explain each component.
4. Compare Lagrangian and Newton-Euler formulation of robot 4 Analyze
dynamics.
5. Give the form of dynamic equation (in matrix/vector form) 2 Understand
of a serial link n degree of freedom robot. Name each term
and mention the size of matrix/vectors.
6. Draw the block diagram of a PPID control schemes 4 Analyze
7. Distinguish between continuous and discrete time control. 2 Understand
8. State major assumptions to be made in the control of a single 1 Remember
joint.
9. Write the Lagrange Euler formula for dynamic model. 3 Apply
10. Quote the response of PI controller for any 2nd order system. 1 Remember
11. Classify the different linear control strategies. 3 Apply
12. Differentiate natural constraints and artificial constraints in 4 Analyze
force control
13. Recommend the two broad categories of force control of 5 Evaluate
robotic manipulator.
14. Summarize the types of actuators. 5 Evaluate
15. task.
Develop the block diagram of a manipulator control system. 6 Create
16. Describe the schematic of robot control system. 1 Remember
17. Design a single degree of freedom system 6 Create
18. Illustrate about natural constraint. 3 Apply
19. Define artificial constraint. 1 Remember
20. Draw the schematic of 2-DOF manipulator 1 Remember
PART – B
1. Describe the open and closed loop control system used in 1 Remember
robotics with block diagram.(13)
2. (i) Describe the linear control schemes available in the
control of manipulator. (7)
1 Remember
(ii) Describe about the PID control scheme which
eliminates the steady state error in robot manipulator.
(6)
3. (i) Explain typical hierarchical computer architecture of a
robot control system. (7) 1 Remember
(ii) Explain the application of robot in material handling.
(6)
4. (i) Describe the linear control of robot manipulation in
detail with necessary block diagram. (7) 1 Remember
(ii) List the pros and cons involved in linear and non linear
control of robot manipulation.(6)
5. (i) Evaluate a dynamic model for a single (rotary) link
actuated by a dc motor.(7) 5 Evaluate
(ii) Obtain the transfer function for position control,
neglecting the armature inductance. (6)
6. (i) Demonstrate the block diagram of model-based
trajectory-following controller for a second order
system.(7) 4 Analyze
(ii) Show that the above model based closed loop system is
stable. (6)
7. Design a dynamic model for a single (rotary) link actuated 6 Create
by a DC motor.(13)
8. Describe about the Lagrangian Euler formulation with an 2 Understand
example. (13)
9. Derive the dynamic model to determine the velocity of a
point on n-DOF manipulator using Lagrange-Euler 2 Understand
formulation.(13)
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 sketch.(7) 4 Analyze
(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. (7) 2 Understand
(ii) Force control of robotic manipulator. (6)
12. Illustrate the effect of moment of inertia in a dynamic 3 Apply
modeling of the system. (13)
13. Explain the general force control strategies with the detailed 3 Apply
view of hybrid position / Force control scheme.(13)
14. Analyze the dynamic model of 2 DOF manipulator using the 4 Analyze
Lagrange – Euler formulation. (13)
PART C
1. Write the characteristics of second-order linear systemin a 6 Create
generic way with neat sketches.(15)
2. Describe about the joint actuators used in robots.(15) 4 Analyze
3. Demonstrate the control of manipulator joint driven by a DC 4 Analyze
motor.(15)
4. Explain in detail about the Peg-in-hole assembly operation 5 Evaluate
tasks.(15)