ROBOTICS AND ARTIFICIAL INTELLIGENCE (RAI), B.E. Computer Science (CS), Semester 7, May 2009. Robotics.

ROBOTICS AND ARTIFICIAL INTELLIGENCE (RAI),

B.E. Computer Science (CS), Semester 7, May 2009.

Robotics.

Con.3357-09

VR- 4125

(3 Hours)

[Total Mark: 100]

N. B.: (1) Question no 1 is compulsory.

(2) Attempt any four questions out of the remaining six questions.

1. (a) Discuss the differences between fixed and flexible automation. --- (5 Marks)

(b) What is linear interpolation with parabolic blends? What are the advantages? --- (5 Marks)

(c) Define the following terms: Tool Path, Tool Trajectory, OOF, Precision, Accuracy. --- (5 Marks)

(d) Define Kinematic Parameters. --- (5 Marks)

2. (a) Explain the edge detection algorithm. --- (10 Marks)

(b) Explain Bounded Deviation Algorithm. --- (10 Marks)

3. (a) What is image smoothening? Explain how it is done on a binary image. --- (10 Marks)

(b) Construct the arm matrix using homogeneous transformation matrices for a 2-DOF articulated robot. Draw neat diagram. --- (10 Marks)

4. (a) Determine the tool configuration vector of SCARA robot, when - --- (10 Marks)

(b) Explain guarded and constrained motion. --- (10 Marks)

5. (a) Explain the effect of moment of inertia on the dynamic performance of a robot.--- (10 Marks)

(b) What is an Inverse Kinematics problem? What are the methods of solving it? Compare numerical approaches over analytical approaches. ---- (10 Marks)

6. (a) Explain the PNP motion trajectory in details.--- (10 Marks)

(b) Explain position uncertainty and velocity uncertainty. --- (5 Marks)

(c) Define Total work envelope, Joint space work envelope and Dexterous work Envelope with their relevant formulae and explain each term in them. --- (5 Marks)

7. Write short notes on :- --- (20 Marks)

(a) NC and CNC machines

(b) Perspective transformation

(c) Robot programming

(d) Linear interpolation with parabolic blends.