GTU BE 2019 Summer Question Papers || Gujarat Technological University
Subject Code: 2181919
GUJARAT TECHNOLOGICAL UNIVERSITY
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BE - SEMESTER-VII(NEW) EXAMINATION - SUMMER 2019
Subject Name: Robotics
Time: 10:30 AM TO 01:00 PM
Instructions:
- Attempt all questions.
- Make suitable assumptions wherever necessary.
- Figures to the right indicate full marks.
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| Q.1 | (a) Brief today’s commercially available basic configuration of robot in Indian Market. [03] |
| (b) Discuss the merits and demerits of using robots in today’s industry. [04] | |
| (c) Define Robot anatomy. Explain Spherical configuration of robot and its work envelope. [07] | |
| Q.2 | (a) Briefly state PID Control System for Robotics. [03] |
| (b) Describe various terminology of trajectory planning in brief. [04] | |
| (c) Discuss in detail GANTRY type robots for industrial used. [07] | |
| OR | |
| (c) Derive transformation matrix of a 3-DOF articulated arm with three revolute joints. [07] | |
| Q.3 | (a) Explain programming methods used in robotics system. [03] |
| (b) Explain with neat sketch Roll-Pitch-Yaw angles for Robotics. [04] | |
| (c) Discuss the gripper design consideration in robotics. [07] | |
| OR | |
| (c) Brief out type of motion control systems for Robotics. [07] | |
| Q.4 | (a) Discuss briefly linear and angular velocity of rigid body. [03] |
| (b) Explain following terms for Robotic sensors: (1) Limit switches (2) potentiometers [04] | |
| (c) Discuss briefly mapping velocity vectors. [07] | |
| OR | |
| (c) Discuss the ‘External sensors’ used in Robotics. [07] | |
| Q.5 | (a) Describe principle function of robot vision system. [03] |
| (b) Describe in brief about artificial intelligence in terms of Robotics. [04] | |
| (c) Discuss briefly comparison of Lagrange — Euler and Newton — Euler formulations. [07] | |
| OR | |
| (a) Describe manipulator workspace for Robots. [03] | |
| (b) Explain with neat sketch ‘Inverse kinematics. [04] | |
| (c) Discuss capacitive and laser sensing system in brief. [07] | |
| Q.5 | (a) Using D-H representation derive the matrix for Cartesian configuration of robot. [03] |
| (b) What is feed forward and feedback control loops. [04] | |
| (c) Discuss the Manipulator Jacobian Method. [07] | |
| OR | |
| (a) Give applications of robotics. What will be its future applications? [03] |
Total Marks: 70
Date: 13/05/2019
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