PTU B.Tech Automation Robotics ECE-EIE 6th Semester May 2019 71065 ADVANCED ROBOTICS Question Papers

PTU Punjab Technical University B-Tech May 2019 Question Papers 6th Semester Automation Robotics ECE-EIE

Roll No.
Total No. of Pages : 02
Total No. of Questions : 09
B.Tech (Automation & Robotics) (2011 & Onwards) (Sem.-6)
ADVANCED ROBOTICS
Subject Code : BTAR-601
M.Code : 71065
Time : 3 Hrs. Max. Marks : 60
INSTRUCTIONS TO CANDIDATES :
1.
SECTION-A is COMPULSORY consisting of TEN questions carrying T WO marks
each.
2.
SECTION-B contains FIVE questions carrying FIVE marks each and students
have to attempt any FOUR questions.
3.
SECTION-C contains T HREE questions carrying T EN marks each and students
have to attempt any T WO questions.

SECTION-A
1.
Write briefly :

a. What is pose of a rigid body?

b. What is the physical significance of degree of a freedom?

c. What is forward kinematics?

d. Write down forward kinematics of two link planer arm.

e. What is difference between direct and inverse dynamics?

f. What is the goal of motion planning of a robot?

g. What is PID control?

h. Discuss the performance of feedback control systems.

i. What is state space representation?

j. What is offline programming of a robot?

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SECTION-B
2.
Explain the inverse kinematics of robot.
3.
Write D-H notation for robots and define homogeneous transformation matrix.
4.
What are the advantages and disadvantages of the Euler-lagrange and Newton-Euler
formulation?
5.
Discuss the several techniques used for controlling the motion of a robot.
6.
What is the difference between point to point motion and continuous path motion? Also,
discuss their applications.

SECTION-C
7.
(a) Explain robot programming using teach pendent.

(b) Explain walk through programming of robot.
8.
Derive the dynamic equation of motion of a one link arm using Euler?Lagrange
formulation.
9.
(a) What are the functional requirements of a robot? Discuss in detail.

(b) Discuss the recursive dynamics using Newton Euler formulation.






NOTE : Disclosure of identity by writing mobile number or making passing request on any

page of Answer sheet will lead to UMC case against the Student.
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