2 Hours
ROBOTICS & AUTOMATION
2 Hours
Q1
Consider the following manipulator geometry with three rotational joints (waist, shoulder, elbow) -
218425810447456650061125163
Derive the inverse kinematic equations for the three joint angles for this manipulator.
[Hint: Geometric intuition can be used here]
(13)
Solve the inverse kinematic equations for a TCP position, in the robot reference frame, of -
x = 1.0m y = 0.0m z = 0.75m
(7)
Q2
Examine the following VAL-1 program:
SHIFT NIB BY 10.0, 10.0, 0.0 MOVE NIB : OFFSET MOVES NIB
SHIFT NIB BY 80.0, 80.0, 0.0 MOVES NIB
SHIFT NIB BY 80.0, -80.0, 0.0 MOVES NIB
DEPART 20
SHIFT NIB BY -40.0, 40.0, 0.0 MOVE NIB : OFFSET MOVES NIB
SHIFT NIB BY -80.0, 0.0, 0.0 MOVES NIB
DEPART 20
SHIFT NIB BY -50.0, -50.0, 0.0 MOVES NIB
STOP
If a pen is used as the end-effector of a PUMA robot executing this program and a blank piece of paper is supported in the Z=0 plane and NIB and OFFSET are initialised as follows:
NIB
10
0
1
00
0
0
00
0
0
10
1
0
OFFSET
100
0
10
001
0
0
0
0
0
20
1
Draw a diagram of the shape which will appear on the paper. Give precise co-ordinates for all important points and indicate the direction of travel of the Tool Centre Point.
What would be the likely effects of substituting MOVE commands for MOVES commands in the program?
Why is the off-line programming of robots in this manner still problematic and unreliable?
(8)
(2)
(4)
Describe three other methods by which an industrial manipulator could be programmed.(6)
Q3(a)What is an adaptive system? Differentiate adaptation and learning.
(6)
Define adaptive behaviour. Explain the difference between behaviour and mechanism.
(6)
Explain the difference between the two architectures a. and b. below of an intelligent control system of a robot.
2106167209805
(8)
Q4(a)A robot wishes to go through a door but the door is locked. A robot adopting a cognitive approach has constructed the following plan in its head:
Plan for opening the door:
Go to the place where the key is.
Take the key.
Go to the door.
Open the door with the key.
Suggest some rules that a reactive robot could use to solve the same task. What are the limitations of the approach that the reactive robot uses compared to the cognitive robot?
(7)
There are four types of adaptation, define evolutionary adaptation. Explain the Baldwin Effect.
(6)
Define reality-gap in robotics. Explain one way of crossing the reality-gap when designing an intelligent robot controller.
(7)
END OF PAPER
