1.

2.

3.

4.

5.

6.

7.

8.

9.

PART A
(20 X1=20 Marks)
Answer all questions
In robotic studies, location of objects in three-dimensional space is described by which of the
following attributes?
a) Frame and link
b) Position and orientation
c) Frame and orientation
d) Link and position
The study of the kinematics of manipulators refers to all the geometrical and ______
properties of the motion.
a) Velocity-based
b) Acceleration-based
c) Force-based
d) Time-based
Some manipulators contain sliding (or prismatic) joints, in which the relative displacement
between links is a translation, sometimes called
a) Joint angles
b) Joint offset
c) Counterbalance
d) Revolute joints
Which of the following is true regarding rotational matrix?
a)
=
=
b)
=
=
c)
=
=
d)
=
=
Which the following is true for , if the link frames have been attached to the links?
a) Distance from to
b) Angle from to
c) Distance from
to
d) Angle from
to
One of the following is not an advantage of the non-standard DH method:
a) Certain directions of motion may be unattainable
b) Some of the joint velocities are infinite
c) Some of the joint torques are finite
d) There will not exist a unique solution to the inverse kinematics problem
The Unimation PUMA has ______ degrees of freedom:
a) Two
b) Six
c) Five
d) Four
A link is considered only as a rigid body that defines the relationship between two neighboring
____ of a manipulator.
a) Joint axes
b) Links
c) Orientations
d) Frames
The Denavit-Hartenberg notation lays emphasis on

a) Joint variables and link parameters

b) Link offset and link twist
c) Cartesian space and work space
d) Euler angles and joint angle
10. This frame is the location where the robot is to move the tool and is specified relative to the
station frame
a) Station frame
b) Wrist frame
c) Tool frame
d) Goal frame
11. A ______ is a combination of links and joints to simulate a spherical joint and provide three
rotational DOF for the gripper link
a) Wrist dead frame
b) Wrist living frame
c) Spherical wrist
d) Gripper axis
12. _____ is that volume of space that the robot end-effector can reach with all orientations.
a) Dextrous workspace
b) Reachable workspace
c) Cartesian workspace
d) Jacobian workspace
13. Singular configurations happen when:
a) Two axes of prismatic joints become parallel
b) Two axes of prismatic joints become perpendicular
c) Two axes of revolute joints become identical
d) Two axes of revolute joints become different
14. Recursive algorithm deals with
a) Force
b) Pressure
c) Dynamics
d) Speed
15. Recursive Rotation matrices may also be called proper orthonormal matrices, where "proper"
refers to the fact that the determinant is
a) -1
b) 0
c) +1
d) 1
16. A ______ refers to a vector that may be positioned anywhere in space without loss or change
of meaning, provided that magnitude and direction are preserved.-1
a) Joint Vector
b) Space Vector
c) Line Vector
d) Free vector
17. One of the following is a parameter needed to define the relative location of the two axes Joint
Vector
a) Link length
b) Link twist
c) Link axis
d) Link offset
18. All proposed manipulator solution strategies can be classified into two broad classes:
a) closed-form solutions and numerical solutions
b) analytical solutions and geometrical solutions
c) Cartesian and jacobian solutions

d) workspace and wrist solutions

19. The inverse kinematics problem cannot be solved using one of the following techniques:
a) polynomial
b) Decoupling
c) Inverse transformation
d) Screw algebra
20. One of the following is not the reason for Identification and avoidance of singularity
configurations in robotics.
a) Certain directions of motion may be unattainable
b) Some of the joint velocities are infinite
c) Some of the joint torques are finite
d) There will not exist a unique solution to the inverse kinematics problem
PART - B

(10 x 2 = 20 marks)
Answer all Questions

21. Classify the five types of robots based on configurations.

22. Write the D-H parameters.
23. Formulate the equation for a frame B was rotated about the x-axis at 90 0, then it was translated
to 3 inches along a axis before it was rotated about z-axis at 90 0 and again translated about
current 0-axis 5 inches.
24. Differentiae the direct and inverse kinematics?
25. Express the three transformation matrices for the representation of rotation about x, y and z
axis.
26. Write the Lagrangian formulation for equations of motion for serial manipulator.
27. Define trajectory planning.
28. What is meant by Cartesian space trajectory planning?
29. Compare the Dextrous workspace with reachable workspace.
30. Give the definition for universe frame.
PART - C
31.

32.

33.

(05 x 12 = 60 marks)

(a). Frame [2] is rotated with respect to frame [1] about the x-axis by an angle of 500. The
position of the origin of frame [2] with respect to frame [1] is D2 = [5.0,6.0,8.0]T.
1) Determine the transformation matrix T2, which describes frame [2] relative to frame [1].
2) Find the description of point P in frame [1] if P2=[3.0,4.0,5.0]T. [E, C, CO2]
(12)
(OR)
(b). A point p(7,3,1) is attached to a frame Fnoa and is subjected to the following
transformations. Find the coordinates of point relative to the reference frame at the
conclusion of transformation.
1. Rotation of 900 about z-axis
2. Followed by a rotation of 900 about y-axis
3. Followed by a translation of [4,-3,7]
(12)
(a). Determine the position of the end effector using forward and reverse kinematics
approach for the two DOF planar robot shown in the figure
(12)
T

(OR)
23. (b). Represent the Denavit-Hartenberg transformation parameters with suitable figures

(12)

24. (a). Derive the expression for linear and angular velocity of a rigid body
(12)
(OR)
33.(b). Explain the concept of Singularity in Force Domain and static force analysis of four bar
mechanism
(12)
34.(a). Write the Lagrangian Formulation for both kinetic and potential energy.
(12)
(OR)
25.
(b). Explain different types of algorithms used in Recursive Formulation of Dynamics of
Manipulators
(12)
26.

(a). Elaborate the Feedback Control of a single-link manipulator with suitable diagram and
transfer functions
(12)

(OR)
35.(b) Explain the concept of Trajectory planning using Joint space schemes

(12)

SYLLABUS
12K605 MODELING AND CONTROL OF ROBOTICS SYSTEM
Unit I
Mathematical Background
Introduction to robots: Types of Robots and manipulators. Rigid body motions: Representation of
position and orientation of a rigid body Position vector Rotation Matrix Homogeneous
transformations and operators. Denavit-Hartenberg (D-H) presentation: Frame arrangement
Kinematic (DH) parameters - Position Analysis.
Arm matrix.
9 Hours
Unit II
Direct and Reverse Kinematics

Direct/Forward Kinematics Importance of Direct Kinematics - Examples. Reverse/Inverse

Kinematics Need of Reverse Kinematics Multiple Solutions Method of Solutions: Closed form
Solutions Analytical method Numerical Solutions Examples.
Geometric method with example
9 Hours
Unit III
Velocity Analysis and Static Force Analysis
Velocity Analysis: Representation of Linear and Angular Velocity of Manipulator Links Skew
Symmetric matrix representation Velocity Forward Propagation Velocity / Manipulator Jacobian.
Static Force Analysis: Force transformation of robotic manipulators Force Jacobian Singularity
Analysis.
Workspace Singularities
9 Hours
Unit IV
Robot Dynamic analysis
Introduction to Robot Dynamics: Equations of Motions of Robotic Manipulators Lagrangian
Formulation Method. Dynamic Modelling: State Space Representation of Dynamic Equations of
Robotic Manipulators.
Properties of Robotic Manipulators
9 Hours
Unit V
Trajectory Planning and Control
Trajectory Planning: Difference between Path and Trajectory Need of Trajectory Planning and
Generation Types of Generation Schemes Joint Space Schemes Task Space Schemes
Challenges in the Task Space Schemes. Robot Control: Review of Classical Control Concepts
Independent Joint PID Control Control of a Multi-Link Manipulator.
Inverse Dynamic Control
9 Hours
Total: 45 Hours
Textbooks
1. J.J. Craig, Introduction to Robotics: Mechanics and Control, Prentice Hall Inc. / Pearson Education,
2005.
2. R.N. Jazer, Theory of Applied Robotics. Springer, 2010.
3. Tsai, L. W., Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley &
Sons, Inc, New York, 1999.
References
1. M.W. Spong and M. Vidyasagar, Robotics Dynamics and control. Wiley Publication, 1984.
2. A. Ghosal, Robotics: fundamental concepts and analysis. Oxford university press, 2006.
3. A.A. Shabhana, Computational Dynamics. John-Wiley & Sons, 2001.
4. R.M. Murray, Z. Li, and S. Sastry, A Mathematical Introduction to Robotic Manipulation. CRC
Press, 1994.
5. K.S. Fu, R.C. Gonzalez, and C.S.G. Lee, Robotics: Control, Sensing, Vision, and Intelligence.
McGraw-Hill Book Co. 1987.
6. J. Angeles and A. Kecskemthy, Kinematics and Dynamics of Multi-body Systems, Ch. 1-2 and Ch.
6. Springer-Verlag, 1995.
7. F.P. Beer and E.R. Johnston, Jr., Vector Mechanics for Engineers. McGraw-Hill, 2010.
8. Merlet, J.P., Parallel Robots, Kluwer Academic Publishers, 2000.