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Max. Marks: 100

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F1166 Pages: 2

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY
SIXTH SEMESTER B.TECH DEGREE EXAMINATION(R&S), MAY 2019

Course Code: EC368
Course Name: Robotics

PARTA

Answer any two full questions, each carries 15 marks
Draw and explain the components and structure of robotic arm.
Explain the working of linear and rotary types of hydraulic actuators with the help of
neat diagrams.
Describe the characteristics of sensors. Explain various sensors with the help of neat
diagrams.
Briefly explain the speed control and direction control of electric motors.
Explain the principle of operation of stepper motors and brushless DC motors. List
their advantages and disadvantages.
Explain the common kinematic arrangements of robots based on various coordinate

systems.

PART 13
Answer any two full questions, each carries 15 marks

Discuss various image processing techniques used in robotics.

Calculate the inverse of the following transformation matrix.

05 0 0866 3
0.866 0 -0.5 2
0 1 0 5

0 0 0 1

A frame B was rotated about the x-axis 90°, then, it was translated about the current

T=

a-axis 3 inches before it was rotated about z-axis 90°. Finally, it was translated about
current o-axis 5 inches.

a) Write an equation that describes the motion.

b) Find the final location of a point ए (1, 5, 4)" attached to the frame relative to the
reference frame.

Derive the matrix representing the orientation change with Euler angles. Which are

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Duration: 3 Hours

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