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 angle OX axis, followed by a rotation of angle about OW axis, followed by a rotation of angle about OY axis? Verify your answer for point P = (4,5,6), =45, = 60 and =45, using rotation matrix developed through Matlab. 10. Determine a T matrix that represents a rotation of angle about OX axis, followed by a translation of b units along OZ axis, followed by a rotation of angle about OV axis? Verify your answer for point P = (4,5,6), = 90, b= -10 and =45, Transformation matrix developed through Matlab. using

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 /2 rad in 1 s. 4. Compute the joint torques for 2-link planar manipulator derived in Question 3 for 1=45 and 2=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 2=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 endeffector, 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 3/2 - /2 2 Velocity (rad/s) 0 - /2 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 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 (t) = 30 + t2 - 6 t3 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 s=0 and g=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 systems 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.
& = AX , where A is mxm and positive definite. 2. A linear system is represented by X Propose the candidate Lyapunov function. & = AX + Bu , where u is the forcing input. 3. A linear system is represented by X When the system is unforced, u becomes zero and the system is represented by & = AX , Check the system for stability using Lyapunov stability analysis. X

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?