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F1166 Pages: 2
the fundamental rotations involved in this?

For a simple 2-axis robot shown in figure, (8)
i) Assign appropriate frames for DH representation.

ii) Fill out parameters table.

iii) Derive the forward kinematic equations for the robot.

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Write homogeneous transformation matrix for translation in cylindrical coordinate (7)
system. Which are the three transformations involved?
PART ட
Answer any two full questions, each carries 20 marks
Derive the equations of motion for 2 DOF system shown in figure. (10)

111)
Explain the structure of robot programming language. (10)
Derive the Jacobian operator for linear and angular velocity of end-effector. (10)
Distinguish between textual programming and lead through programming. (5)
Write VAL commands for controlling end-effector motion of a robot. (5)

What is the role of inverse Jacobian operator in velocity kinematics? Also, explain (10)
the significance of singularities in the same.
Describe the state-of-art of robotics. What are mobile robots? (10)

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