Principles of Robotics — Winter 2025

Define the term as per Japan industrial robot Association (JIRA). I) Manipulator, II) Playback robot, III) Intelligent robot.

Describe the three guiding rules for robots as established by Asimov.

What are the different types of robotic arm configurations? Draw and label any two in details.

Define the robot as per British Robot Association (BRA), Robotics Industries Association (RIA) and International Standard Organization (ISO).

Describe progressive advancements in robots.

Describe the wrist configuration and end-effector of a robotic arm in detail, with the help of a suitable diagram.

Explain the various industrial application of robots.

Write about links, joints and joints scheme with suitable diagrams.

Define linear and angular velocities in the context of robotic manipulators.

Explain in detail about a manipulator control system with suitable diagram.

Define DOF. Describe 2-DOF with 2-links and 2-joints with suitable diagram.

What are the future prospects of robots?

Discuss in details about manipulator workspace.

Define the term: I) Load carrying capacity, II) Work Volume.

Give difference between Direct Kinematics and inverse kinematics.

Describe in details about solvability of inverse kinematic model.

Write three constraints on the planned trajectory. Page 1 of

Write the step in orientation planning.

Explain use of p-degree polynomial as interpolation function.

What are the key parameters involved in joint space path planning?

What is the Jacobian matrix in robotics, and why is it important?

List the linear control schemes for manipulator. Discuss about open loop and closed loop manipulator control system with suitable diagram.

What is the manipulator control problem?

Explain how cubic polynomials are used in joint space trajectory planning.

List the manipulator Jacobian. Explain in detail any one joint manipulator Jacobian. Page 2 of