Define Euler angles and explain their significance in robotics.
[3 marks]Explain the difference between rotation matrix and homogeneous transformation matrix with examples.
[4 marks]Derive the transformation matrix for a body that is rotated 90° about Z-axis and translated by 5 units along X-axis.
[7 marks]State the Denavit–Hartenberg (D-H) parameters.
[3 marks]Write the homogeneous transformation matrix for a two-link planar manipulator.
[4 marks]Solve the forward kinematics problem for a 2R (two-revolute joint) manipulator using D-Hconvention.
[7 marks]Derive the Jacobian for a 2-link planar manipulator and discuss its singular configurations.
[7 marks]Define Jacobian and its role in robotic motion.
[3 marks]Explain the concept of kinematic singularity with a simple example.
[4 marks]Compare Newton–Euler and Lagrangian methods for deriving robot dynamics with suitable examples.
[7 marks]State Newton’s and Euler’s equations for rigid body dynamics.
[3 marks]Write the Lagrangian equation of motion for a single link pendulum robot.
[4 marks]Solve the forward kinematics of a two-link planar manipulator with following configuration: link lengths L1 = 2m L2 = 1m, θ1=45° θ2=30° Find end-effector coordinates. Page 1 of
[2 marks]What is forward kinematics?
[3 marks]State the velocity-force duality principle.
[4 marks]For a two-link manipulator (L1=1m, L2=1m, θ1=30°, θ2=45°), compute Jacobian and find singularity.
[7 marks]Explain force ellipsoid with neat sketch.
[3 marks]Discuss virtual work principle in robotic statics.
[4 marks]Asingle-link manipulator of length L=1 m and mass m=2 kg is rotating about a fixed joint. Derive the equation of motion using Lagrangian formulation.
[7 marks]Differentiate between static and dynamic analysis in robotics.
[3 marks]State Newton’s equation of motion for a rigid body.
[4 marks]Apoint P(2,3,5) in frame Ais rotated 90° about Y-axis and translated by (2,0,3) to frame B. Find the final coordinates of Pin frame Busing transformation matrices.
[7 marks]Explain iterative Newton–Euler formulation with steps.
[3 marks]Explain inverse kinematics problem with an example.
[4 marks]Using Euler angles (Φ=45°, Θ=60°, Ψ=30°), derive the rotation matrix. Page 2 of
[2 marks]