Tutorial 1

1. Define a Robot.

2. Name the commonly used robot configuration system

3. What are the types of hydraulic actuators?

4. What is meant by Work space?

5. What is meant by accuracy of robot?

6. What is meant by payload capacity of robot?

7. What is repeatability of robot?

8. What is meant by Quality of robot?

9. Classify the motion control of robot arm?

10. What is meant by Work envelope?

Tutorial 2

1. Briefly explain the different types of robots.

2. Write short notes on Joint Notation Scheme.

3. Write short notes on technical specification in Robotics.

4. Explain robot parts and their functions with neat sketch

5. Explain Various Industrial Applications of Robots.

6. Explain the main Robot anatomy with neat sketch.

7. Define End effector.

8. Give some examples of Robot End Effector.

9. What is meant by Gripper?

10. What are the design and control issues for a robotic manipulator?

Tutorial 3

1. What is difference between "moving frames" and "fixed frames" approach in

determining positions and orientations of frames in physical space?

2. How are defined :

(a) x-y-z Euler angles

(b) yaw-pitch-roll angles

3. Explain the following Denavit-Hartenberg parameters:

(a) Common normal

(b) Link twist

(c) Link offset

(d) Joint angle

4. What is forward robot kinematics? Give full mathematical description.

5. Discuss all approaches in deriving of the forward kinematics.

6. Discuss Cartesian and joint velocities of a robot manipulator.

7. Describe the standard frames in a robot environment.

8. What is the rotation matrix for a rotation of 30° about OZ axis, followed by a rotation

of 60° about OX axis, followed by a rotation of 90° about OY axis?

Verify your answer for point P = (4,5,6) using rotation matrix developed through

Matlab.

9. What is the rotation matrix for a rotation of Φ angle OX axis, followed by a rotation of

Ψ angle about OW axis, followed by a rotation of θ angle about OY axis?

Verify your answer for point P = (4,5,6), Φ=45°, Ψ= 60° and θ =45°, using rotation

matrix developed through Matlab.

10. Determine a T matrix that represents a rotation of α angle about OX axis, followed by

a translation of b units along OZ axis, followed by a rotation of Φ angle about OV

axis?

Verify your answer for point P = (4,5,6), α= 90°, b= -10 and Φ=45°, using

Transformation matrix developed through Matlab.

Tutorial 4

1. Determine the equations for 2-DOF RR planar manipulator using L-E formulation.

2. Determine the equations for 2-DOF RR planar manipulator using N-E formulation.

3. Determine the variation of joint torques from the dynamic model of 2-dof manipulator

derived in Question 1 for the following parameters m1=m2=6 Kg and L1=L2=1m.

Assuming both joints move from rest with equal velocity, attain maximum velocity

then decelerate and come to rest, traversing π/2 rad in 1 s.

4. Compute the joint torques for 2-link planar manipulator derived in Question 3 for

θ1=45˚ and θ2=60˚.

5. Describe the advantages and disadvantages of Newton-Euler formulation.

6. Describe the advantages and disadvantages of Lagrange-Euler formulation.

7. Make a comparison of NE and LE formulation and state the situation when the one

formulation is preferred over the other.

8. Verify the result for Question 3 using MATLAB.

9. Verify the result for Question 4 using MATLAB.

10. Verify the result for Question 5 using MATLAB.

Tutorial 5

1. Define the following terms:

Path, Trajectory, Knot Points, Spline, Joint Space Trajectory Planning, Cartesian

Space Trajectory Planning, Trajectory Generation and Path Update Rate.

2. Explain the steps involved in Trajectory planning.

3. The second joint of a manipulator is required to move from θ2=30˚ to 150˚ in 5 s. Find

the cubic spline to generate the smooth trajectory for the joint. What is the maximum

velocity and acceleration for this trajectory?

4. Determine the time-history of the position, velocity and acceleration of the end-

effector, which move from start to goal point via 2 intermediate points. Assume a

cubic spline in each segment and the continuity of velocity at the via points is

enforced.

End-Effector Path Point

1 2 3 4

Position (rad) 0 3π/2 - π/2 2 π

Velocity (rad/s) 0 - π/2 π 0

Traversal Time (s) 0 3 5 2

5. Determine the trajectory for the Question 4 if velocity at via-points is not specified.

6. The motion of a robotic arm is constrained by an actuator that can produce a maximum

acceleration of 0.35 rad/s2 and maximum velocity of 15 rad/s. If trapezoidal velocity

profile is assumed, determine the trajectory if the joint moves by π rad in 10 s.

7. A 1-dof manipulator with rotary joint is to move from 113 to 210 in 7 s. Find the

coefficients of the cubic polynomial to interpolate a smooth trajectory.

8. A single cubic trajectory given by θ(t) = 30 + t2 - 6 t

3 is used for a period of 3 seconds.

Determine starting and goal position, velocity and acceleration.

9. The joint in question 3 has initial and final velocity of 1 deg/s and 1.2 deg/s. Determine

the smooth trajectory.

10. Compute the joint trajectory for θs=0 and θg=4 with null initial and final velocities

and accelerations. Assume tg=1.

Tutorial 6

Verify the answer of Tutorial 5 using MATLAB

Tutorial 7

1. Explain High-level block diagram of a robot control system.

2. Determine the motion of spring mass system if parameter values are m=1, b=5, and

k=6 and the block (initially at rest) is released from the position x=-1.

3. Determine the motion of spring mass system if parameter values are m=1, b=1, and

k=1 and the block (initially at rest) is released from the position x=-1.

4. Determine the motion of spring mass system if parameter values are m=1, b=4, and

k=4 and the block (initially at rest) is released from the position x=-1.

5. For a spring-mass system with actuator, if m=1, b=1 and k=1, find gains kp and kv

for a position regulation control law that results in the system’s being critically

damped with a closed-loop stiffness of 16.

6. A spring-mass system has a mass of 2 units with a spring stiffness of 20 units.

Frictional resistance has a coefficient of 14. The mass is pushed to a position x = 2

and released with zero initial velocity. Find the response of the system of the system

for t ≥ 0.

7. Explain the trajectory following controller for the damped spring-mass system.

8. A spring-mass system has a mass of 1 unit with a spring stiffness of 1 unit.

Frictional resistance has a coefficient of 1. The mass is released (initially at rest)

from the position x = -1. Find the motion of the system.

10. Explain architecture of an Industrial Robot Controlled with suitable block

diagram.

Tutorial 8

Verify the answer of Tutorial 7 using MATLAB

Tutorial 9

1. A spring, mass and damper system consists of a non-linear spring described by f=

qx2. If a system has to be critically damped with a stiffness of kCL, construct the

corresponding control law and explain with suitable block diagram.

2. A linear system is represented by ,AXX −=& where A is mxm and positive definite.

Propose the candidate Lyapunov function.

3. A linear system is represented by ,BuAXX +=& where u is the forcing input.

When the system is unforced, u becomes zero and the system is represented by

,AXX =& Check the system for stability using Lyapunov stability analysis.

4. A spring, mass and damper system consists of a non-linear spring described by f=

qx3. If a system has to be critically damped with a stiffness of kCL, construct the

corresponding control law.

6. Describe computed torque control law and design a non-linear controller based on

this law.

7. Explain adaptive manipulator controller with suitable block diagram.

8. Design a controller for 2-dof RR robotic manipulator.

9. Design the hybrid position controller for 2-dof RR robotic manipulator.

10. Simulate any one control strategy in MATLAB.

Tutorial 10

1. Write a short note on three levels of Robot Programming.

2. Explain the problems peculiar to Robot Programming Languages.

3. Explain the requirements of a Robot Programming Language.

4. Describe tying your shoelace in simple English commands that might form the

basis of a robot program.

5. Write a program to assemble hand-held portion of a standard telephone. The six

components namely handle, microphone, speaker,2 caps and cord arrive in a kit.

6. How error recovery is done using a Robot Programming Language.

7. What are the methods of robot programming?

8. What are ways of accomplishing lead through programming?

9. What is teach Pendant?

10. What are the methods of teaching?

.