As you are looking for question papers of Robotics Subject of B.E Final Year Course of Mumbai University, so here is question paper:

Mumbai University B.E Final Semester Robotics Question Paper
1. Answer the following questions~
A. Why inverse kinematics problem is not unique and' direct kinematics problem is 05
unique? .
B. Why is the SCARA arm more ideal for assembly applications? 05
C. Write short note on classification of robots 05
D. List Programming Languages used for •PLC, Explain any One Language in brief 05

2. A. Differentiate between direct kinematics and inverse kinematics problems. 10
B. Obtain the Inverse Kinematics solution of the 4 axis Adept - 1 SCARA robot with 10
its IK algorithm starting from the arm matrix. Explain Each joint variable computation in brief.

3, A. What are the considerations for applying. DH algorithm? Explain the Direct 10
kinematics solutions for a three axis planar robot.

B. Define total work envelope,- joint space work envelope, dexterous work 10
envelope With their relevant formulas and Illustrate these for anyone robot arm with a neat sketch.

4. A. Derive the Three fundamental rotation matrices R1 (6), R2 (6) and R3 (6) 10
with the help of neat sketches.

B. What is trajectory planning? Explain in brief how continuous motion path 10
trajectory is planned.

5. A. What is robot task planner? Explain in brief with the help of a block diagram 10

B. Explain structure of Relay Sequencers in brief. 05

C. What are advantages of PLC; List examples of PLCs and their manufactures. 05

6, A. Compare the relative merits and demerits of different structured illumination 10
techniques

B. Explain structure of Timer and Counter functions; Hence give one example of 10
each.

7. Write short notes on (Any TWO) 20
A. Robot Specifications
B. Shape analysis of objects
C. Gross & Fine Motion planning

Mumbai University B.E Final Semester Robotics Question Paper