UNIT I BASIC CONCEPTS

TWO MARKS

1. Define a Robot?
RIA defines a robot as a “programmable, multifunction manipulator designed to
Move materials, parts, tools or special devices through variable programmed motions
for the performance of the variety of task”.
2. What is mean by automation?
Automation is a technology that is concerned with the use of electronic mechanical
and computer based system in the operation control and production.
3. What is a robot?
Robot is an
● Electro-mechanical device
● Perform various task
● May be human controlled or automated.
It finds its uses in all aspects of our life
4. What are the rules of robot?
● Do not harm being
● Obey human being
● Protects itself from harm.
5. Why a robot used?
a. To reduce production cost
● Fast
● Accurate
● Difficulties in human nature
b. To avoid 3-D jobs
● Dirty
● Dangerous
● Difficult
6. What is meant by robot anatomy?
Robot anatomy means study of structure of robot. Manipulator is constructed of a
series of joints & links. A joint provides relative motion between the input link and the
output link. Each joint provides the robot with one degree of freedom.
7. Name the commonly used robot configuration system?
The commonly used robot configuration systems are
● Cartesian coordinate system
● Cylindrical coordinate system
● Polar or spherical coordinate system
● Revolute coordinate system
8. What are the types of automation?
● Fixed automation
● Programmable automation
● Flexible automation
9. Write are the Benefits of industrial automation?
● Improved product quality
● Improved safety
● Increased manufacturing flexibility
● Improved operation reliability
● Improved decision making
10. List the different types of robots?
● Robotic Manipulator
● Wheeled Mobile Robots
 ● Legged Robots
● Underwater Robots
● Flying Robots
● Robot Vision
● Artificial Intelligence
● Industrial Automation
11. Write Asimov’s laws of robotics?
Three rules written by science fiction author Isaac Asimov and later expanded upon.
These rules are built in to almost all positronic robots appearing in his fiction and
cannot be bypassed. The rules are introduced in his 1942 short story ​Runaround
although they were foreshadowed in a few earlier stories.
The Three Laws of Robotics are as follows:
I. A robot may not injure a human being or, through inaction, allow a human
being to come to harm.
II. A robot must obey any orders given to it by human beings, except where
such orders would conflict with the First Law.
III. A robot must protect its own existence as long as such protection does not
conflict with the First or Second Law.
12. What is mean by workspace?
The space in which the end point of the robot arm is capable of operating is called
as a workspace in other words reachabillity of robot arm is known as workspace.

What is mean by work volume?

The volume of the space swept by the robot arm is called work volume
14. What is meant by work envelop?
The work envelop is described by the surface of the workspace.
15. What is meant by a accuracy of robot?
The robot’s ability to reach a reference point within the robot’s full work volume is
known as accuracy of robot.
16. What is meant by pay load capacity of robot?
The maximum load which can be carried by the manipulator at low or normal speed
17. What is meant by precision of robot?
It is the smallest increment of motion for which the robot can be controlled
18. What is repeatability of robot?
Repeatability refers to robot’s ability to return to the programmed point when it is
commanded to do so.
19. What is meant by quality of robot?
A robot is said to be high quality when the precision and accuracy is more
20. Classify the motion control of Robot arm?
• Limited sequence control
• Point to point control
• Continuous path control
• Intelligent control
21. What are the Subsystems of industrial robot?
• Actuators
• Transmission systems
• Power supplies & power storage system
• Sensors
• Microprocessors & controllers
• Algorithms & softwares (higher level & lower level)
22. ​What is meant Degrees Of Freedom?
It is described as one of the variables required to define the motion of a body in
space. Each joint in a robotic system gives the robot one degree of freedom.
23. How much encoder need for measure 45 degree of freedom?

45 encoders
24. What are the Advantages and disadvantages of robot?
Advantages
• Greater flexibility, reprogrammability, adjustable kinematics dexterity
• Greater response time to inputs than humans
• Improved product quality
• Maximize capital intensive equipment in multiple work shifts.
Disadvantages
• Replacement of human labour
• More unemployment
• Significant retraining costs for both unemployed and users of new
technology
• Advertising technology does not always disclose some of the hidden
disadvantages
25. What are the limitations of robot?
Assembly dexterity does not match that of human beings, particularly where eyehand
coordination required.
• Payload to robot weight ratio is poor, often less than 5%
• Robot structural configurations often constrain joint limits and thus the work
volume
• Work volume can be constrained even further when parts of substantial size
are picked up when tooling/sensors added to the robot
• The robot repeatability and/or accuracy can constrain the range of potential
application

UNIT II ROBOT END EFFECTORS

1.Define End effector:

End effector is a device that is attached to the end of the wrist arm to perform
specific task.
2. What is meant by manipulator?
Manipulator is a machine has a function similar to those of the human upper limbs
and moves an object spatially from one location to another.
3. Give some example of robot End effector:
• Gripper
• Tools
• Welding equipment’s
• End of arm tooling(EOAT)
4. What is meant by gripper?
Gripper is a End effector which can hold or grasp the object
5. What are the types of gripper?
• Magnetic gripper
• Mechanical gripper
• Hooking gripper
• Vacuum gripper
6. What is a stripping device?
A device used to remove workspace from the magnetic gripper
7. What are the types of mechanism gripper?
• Linkage actuation gripper
• Gear and rack actuation gripper
• Cam actuation gripper
• Screw actuation gripper

8.What are the advantages and disadvantages of magnetic gripper?

Advantages
• Pickup time very fast
• Variation in part size can be tolerated. The gripper do not have to be
designed for one particular work part
• They have ability to handle metal parts with holes
• They require only one surface for gripping
Disadvantages
• Residual magnetism
• Side slippage
• More than one sheet will be lifted by magnet from a stack
9. Write different types of magnetic gripper?
There are two of magnetic gripper
• Electromagnetic gripper
• Permanent magnet gripper
10. What is Adhesive gripper?
Adhesive gripper in which an adhesive substance performs the grasping action for
handling fabrics and other lightweight material are called adhesive gripper
11. Limitation of Adhesive gripper?
• Adhesive substance losses his tackiness on repeated usage
• Reliability is diminished with successive operations
12. List the advantages and features of suction cup gripper?
• Require only one surface of the part for grasping
• Applies uniform pressure distribution on the surface of the part
• Relatively a lightweight gripper
• Applicable to a variety of different material.
13. Give some examples of tool as robot End effector
• Shop welding tools
• Arc welding tools
• Spray painting nozzle
• Water jet cutting tool
14. What is transfer function?
The transfer function relates the Laplace transformation of the system output to the
Laplace transformation of the system input.
15. What is controller?
Controller is information processing device whose input are both desired and
measurement position, velocity (or) other pertinent variables in a process and whose
outputs are drive signals to a motor (or) actuators.

16 Write control techniques of robot?

All industrial robots are either servo or non-servo controlled
• Non servo (open loop) control
• Servo (closed loop) control
17. What is actuator?
• They convert the electrical energy into meaningful mechanical work
• Mechanical output can be rotational or linear
• Motor provide motion
• Electromagnets provide linear motion
18. What is summing junction
Summing junctions may have any number of arrows entering but only one leaving
19. What is a take point?
Take of point permit signals and variables to be shared among more than a single
component
20. What is a functional block?
Function block represents one of the components of the system and contains the
transfer function for the component.
21. What is a single arrow?
Single arrow indicates the direction of variables and signals in the diagram.
22. Name some feedback device used in Robotics?
• Potentiometer
• Resolver
• Encoder
23. List the various actuating mechanism used in mechanical gripper?
• Linkage actuation gripper
• Gear and rack actuation gripper
• Cam actuation gripper
• Screw actuation gripper
24. Which type of robot is commonly used for pick and place operation?
Cylindrical coordinate robot is commonly used for pick and place operation
25. What do you meant by material transfer application?
Material transfer application are defined as operation in which the primary objective
is move a part from one location to another location

What is pick and place operation?

Pick and place operation involved tasks in which the robot picks the part at one
location and move it another location
27. What is meant by PID control?
The PID controller produces an output signal consisting of three terms-one
proportional to error signal, another one proportional to integral of error signal and the
third one proportional to derivative of error signal.

UNIT III ROBOT MECHANICS

1.What is kinematics?
Kinematics will enable us to calculate what each joint variable must be if we desire
the hand to be located at a particular point and have a particular orientation.
2. Define statics.
Statics deals with force which acts on the various parts which are assumed to be
rest.
3. What is link?
A link may be defined as a member (or) a combination of member of mechanism
connecting other members and having motion to them.
Link of machine may transfer both power and motion
4. What is forward kinematics?
It is a scheme to determine joint angle by robot knowing its position in the world
coordinate system
5. What is reverse kinematics?
It is a scheme to determine the position of the robot in the world coordinate system
by knowing the joint angles and the link parameter of the robot.
6. Define manipulator kinematics.
Manipulator kinematics is connected with the position and orindation of the robot’s
end of arm or end effector attached to it as a function of time but without regard for the
effects of force (or) mass.
7. Write about transformation.
• Transformation of frames introduced to make modelling the relocation of
object easier.
• An object is described with respect to a frame located in the object, and this
frame is reloaded with transformation.

Explain kinematic model.

• Before a robot can move its hand to an object must be located relative to it.
There is currently no simple method for measuring the location of the robot
hand.
• Most robot calculated the position of their hand using kinematic model of
their arm.
9. Write steps to drive kinematics model?
1) Assign D-H coordination frame
2) Find link parameter
3) Transformation matrices of adjacent joints
4) Calculate kinematic matrix
5) When necessary, Euler angle representation
10. Give a method to salve forward kinematic problems?
Denavid-Hartenberg conversion
11. Give a method to salve inverse kinematic problems?
• Closed form (or) Analytical solutions
• numerical solutions
12. What is the principle of vacuum cup?
The principle used in vacuum pump and venture
13. What are the methods of robot programming?
• Lead through methods
• Texual robot languages
• Mechanical programming
14. What are ways of accomplishing lead through programming?
• Power lead through
• Manual lead through
15. What is teach pendent?
The teach pendant is usually a small handheld control box with combinations of
toggle switches, dials and buttons to regulate the robot’s physical movements and
program capabilities.
16. What are the methods of teaching?
• Joint movement
• X-Y-Z coordinate motions
• Tool coordinate motion

What are the basic mechanisms of legged robot?

• Slider
• Liver
18. What are the benefits that can be obtained with a legged robot?
• Better mobility
• Better stability on the platform
• Better energy efficiency
• Smaller impact on the ground
19. What is APAS?
Adaptable programmable system was developed by national science foundation &
westing house Electric Corporation. The purpose was to advance the state of the art in
automated batch assembly.
20. Write the different type of kinematics analysis of mechanism?
• Graphical Position Analysis Method
• Algebraic Position Analysis of Linkages
• Complex Algebra Method for Position Analysis
21. When a robot singularity will occurs?
A robot singularity occurs when robot axes are redundant (more axes then necessary
to cause the same motion) or when the robot is in certain configurations that require
extremely high joint rates to move at some nominal speed in Cartesian space
22. Write the two modes of lead through programming?
• Teach mode
• Run mode
23. Write end effector command
• OPEN
• CLOSE
• OPEN I
• CLOSED I
24. List out basic modes of operation in robot language structure.
The three basic modes of operations are
• Monitor mode
• Run mode
• Edit mode
25. State that robot language element.
• Constant, variables
• Motion command
• End effector and sensor command
• Computation and operations.

UNIT IV MACHINE VISION FUNDAMENTALS

1.​What is frame grabber​​?

It is a hardware device used to capture and store the digital image.
2..​What is the common imaging device used for robot vision system?
Black and white vidicon camera, charge coupled devices, solid state camera, cha
Rgeinjection devices.
3..​What is pixel​​?
Picture elements are also known as pixels
4.​What is a frame of a vision data?
The digital image of the camera is called frame of vision data
5.​What is segmentation?
Segmentation is the method to group areas of an image having similar character
istics or features into distinct entities representing part of the image.
6. ​What is thresholding​​?
Thresholding is a binary conversion technique in which each pixel is converted into a
binary value either black or white.
7.​What is region growing​​?
Region growing is a collection of segmentation techniques in which pixels are
grouped in regions called grid elements based on attribute similarities.
8.​What are the functions of machine vision system?
● Sensing and digitizing image data
● Image Processing and analysis
 ● Application
9. ​What are the applications of machine vision system?
● Inspection
● Identification
● Visual Servoing and navigation
10.​What is a sensor?
Sensor is a transducer that is used to make a measurement of a physical variable of
interest.

11.​What is a transducer?
Transducer is a device which convert the one form of information into another form
without changing the information content
12 What are the basic classifications of sensors​​?
Tactile Sensors, Proximity Sensors, Range sensors, Voice sensors etc
13. ​What are the desirable features of a sensor​​?
Good Accuracy, High Precision, Wide operating range, Instant speed of response, Good
Repealibility, Low cost and ease in operation
14What is a tactile sensor?
Tactile sensor is device which indicate the contact between themselves an
d some other solid objects.
15. ​List the different types of tactile sensor​​?
Digital (Touch ) Sensor and Analogue (Force) Sensor
16.​What is a touch sensor​​?
Sensor which senses the presence or absence of the object by having physical contact between
the object
17. ​List the components of the force wrist
Metallic frame, Bracket for tool mounting and strain gauges.
18 ​What is a tactile array sensor?
Tactile array sensor is a special type of force senor composed of a mat
rix of force sensing elements.
19. ​What is a Proximity sensor?
Sensor which senses the presence or absence of the object without having physical
contact between the object
20. ​What are the classifications of a proximity sensor?
● Inductive Sensor
● Capactive Sensor
● Ultrasonic Sensor
● Magnetic Sensor
21. ​What is a range sensor?
Sensor which senses the range of the object
22 ​What is a voice Sensor?
It is a advanced sensor system used to communicate commands or information orally to
robot.
23 ​What is a vision Sensor?
It is a advanced sensor system used in conjunction with pattern recogonization and other
technique to view and interpret event occurring in the robot work space.
24 ​What is a potentiometer?
Potentiometer is an electrical meter to measure the voltage.
25 What is inspection?
It is the quality control operation in which the checking of part assembly or products for
conformance to certain criteria is specifying by the design engineering department.
26 ​What is meant by quantisation?
Each sampled discrete time voltage level is assigned to a finite no of amplitude levels.These
amplitude levels correspond to the gray scale used in the system .The predefined amplitude
levels are characteristic to a particular AtoD converter and consist of discrete values of voltage
levels is defined by Number of quantisation levels =2n
Where n is the no of bits of the A/D converter
27 ​What is meant by encoding​​ :-
Encoding is defined as the representation of an amplitude level by a binary digit sequence .
28. ​What is meant by sampling :-
The given analog signal is sampled periodically to obtain a
series of discrete time analog signals .

29 ​What are the basic lighting devices :-

i.Diffuse surface devices
ii.Condenser projectors
iii.Flood or spot projectors
iv.Collimators
v.Imagers
30 ​What are the phases of A/D conversion
vi.Sampling
vii.Quantization
viii.Encoding
31​. What are the various techniques in image processing & analysis:-
1.Image data reduction
2. Segmentataion
3. Feature extraction
4. Object recognition
32.Give the block diagram of function block , signal arrow , summing junction & take
off point ?

UNIT V ROBOT PROGRAMMING

1.​ What are the methods of robot programming​​?

● Lead through methods
● Texual robot languages
● Mechanical programming
2.​What is teach pendant?
The teach pendant is usually a small hand held control box with combinations of toggle
switches,dials and buttons to regulate the robot’s physical movements and program
capabilities.
3.​Define servo control robots?
Servo control robots, which are programmed by lead through and textual language
methods,tend to activate all access simultaneously.
4.Explain joint mode of teaching robots​​?
The teach pendant has a set of toggle switches (or similar controlled devices) operate each joint
either of it to directions until the end effector has been positioned to the desired point.
5.What is manual lead through programming​​?
In manual lead through programming moves manipulated wrist to teach spray-painting or arc
welding.The movements consists of combination of smooth motion segments.
6.​What are irregular smooth motions​​?
The segments in manual lead through programming are sometimes approximately straight
sometimes curved and sometimes back and forth motions,These motions are called irregular
smooth motions.
7. ​What is AGV?
Automated guided vehicle(AGV) is an independently operated self-propelled vehicle guided
along defined pathways in the floor.It is normally powered with batteries.It is mainly used for
handling of materials from one place to another place.
8. ​What are the general characteristics that make potential robot application technically
practical and economically feasible?
1.Hazardous or uncomfortable working conditions 2.Repetitive operations 3.Difficult handling
jobs 4.Multicast operation
10. ​Define MTTR,MTBF?
MTTR- The mean time between failures indicates how long, on average, the machinery will
operate between breakdowns.
MTBF – The mean time bet. Failures indicates how long ,on average,the machinery will
operate between breakdowns.
11. ​What is meant by palletizing and depalletizing​​?
Arranging materials on a pallet according to fixed rules called palletizing
Removing in sequence,materials which have been arranged on a pallet
12 ​What are Gantry Robot?
If the robots are mounted overhead, they are called Gantry robot
13 ​Define a deadman switch?
A deadman switch is a useful control feature during leadthrough programming.It is a trigger or
toggle switch device generally located on the teach pendant which requires active pressure to be
applied them the devices inorder to drive the manipulator.
14. ​Define paybackperiod?
It is the length of time for the net accumulated cash flow to equal the intial investment in the
project.
15. ​What are the different methods of cost analysis?
1.Payback method 2.Equivalent uniform annual cost (EUAC) method 3.Return on investment
(ROI)method.
16. ​Define EUAC method?
Equivalent uniform annual cost method converts all of the present and future investments and
cash flows into their equivalent uniform cash flows over the anticipated life of the project.
17​. What is image resolution?
The resolution of a digital camera is often limited by the camera sensor (typically a CCD or
CMOS sensor chip) that turns light into discrete signals,replacing the job of film in traditional
photography.
This means that the brighter the image at that point the larger of a value that is read for that pixel.
18​. Define Tracking?
Tracking is defined as the motion of the scene,objects or the camera given a sequence of images.
Knowing this motion,predict where things are going to project in the next image,so that we
don’t have so much work looking for them.
19. ​What are the techniques used in object recognition?
1.Template matching technique 2.Structural technique
20.​What are the methods of Robot programming :-
a.Lead through methods
b.Texual robot languages
c.Mechanical Programming
21 ​What are ways of accomplishing lead through programming :-
● Powered Leadthrough
● Manual Lead through
22​. What is teach pendant
The teach pendant is usually a small handheld control box
with combinations of toggle switches ,dials and buttons to regulate the robot’s
physical movements and program capabilities .
23. ​What are the methods of teaching :-
● Joint movements
● X-Y-Z coordinate motions
● Tool coordinate motion