Pune University Previous Year Question Papers Robotics and
B.E. (Electronics Engineering) ROBOTICS & AUTOMATION (2008 Pattern)
(Elective – II) (Sem. – I)
Time :3 Hours] [Max. Marks :100
Instructions to the candidates:
1) Answer any three questions from each section.
2) Answer to the two sections should be written in separate books.
3) Neat diagrams must be drawn wherever necessary.
4) Pigures to the right indicate full marks.
5) Use of electronics pocket calculator is allowed.
6) Assume suitable data, if necessary.
SECTION – I
QIA a) Explain the term Work envelop 8 Work Volume for the following types of robot 
i) Cartesian Robot
ii) Cylindrical Robot
iii) Spherical Robot
Explain the significance of these terms with respect to Industrial applications.
b) State 8 explain various specifications of Robot system. (Any 4) 
Q2) a) Draw neat sketch showing basic components of Robot system 8 explain function of each. Explain the term Degree of freedom related to Robot.
b) Explain in detail History of robotics 8 three Laws of robotics. Also explain current research in robotics. 
Q3) a) Suppose that [q]m = [0, 0, 10, 1]T represents the homogeneous coordinates of a point located 10 units along the third vector of a mobile coordinate frame M. Suppose that initially M is coincident with a fixed . . ft . coordinate frame F. If we rotate the mobile M frame by — radians about 4 the first unit vector of F, Find 
i) Resulting Homogeneous coordinate Transformation Matrix.
ii) Physical coordinate of the point q in the fixed coordinate frame F. b) Explain the term robot arm dynamics explain Kane’s method used for formulation of dynamical equations. 
Q4) a) What is D-H representation? Discuss D-H Algorithm. 
b) Consider the following coordinate transformation matrix, which represents a fundamental rotation. What is the axis of rotation @1, 2, or 3) 8 what is angle of rotation. 
0.500 0 -0.866′
0 1 0 0.866 0 0.500
Q5) a) Explain following mechanisms with neat diagram. 
i) Rack 8 Pinion Mechanism
ii) Slider – Crank Mechanism.
b) Write Short note on (any two) 
iii) Proximity sensors
Q6) a) Explain Lift 8 Try Technique for slip detection with the help of neat diagram. 
b) With the neat diagram explain the operation of Laser range finder. 
SECTION – II
Q7) a) Draw the block diagram of fuzzy controller 8 explain. 
b) What is Jacobian? Discuss Jacobian in terms of D-H Matrix. 
Q8) a) Explain with the block diagram different parameters involved in trajectory planning problem? Explain different steps in Trajectory planning. 
b) Explain types of motion used while trajectory planning. 
Q9) a) What are different types of vision sensors used in robotics? Explain any one of them with the help of neat sketch. 
b) Explain industrial applications of vision controlled robotics system. 
Q10)a) With the help of block diagram explain components of video analytics system. 
b) Write short note on: 
i) Object recognition ii) Motion detection.
Q11AWrite short note on: 
a) Automatic assembly operations.
b) Automatic part inspection system using robot.
c) Welding automation using robot.
d) Intelligence requirement of robot in glass / mirror industries.
Q12)a) Write short note on Roll of robotics in industrial automation. 
b) Write short note on: 
i) Need of automation in industry 8 relation of automation with productivity.
ii) Different sensors for robot intelligence.