types, namely: Point to Point control robots Continuous Path control robots 2. Sketch and explain the four robot configurations classified according to the coordinate system. (AU-Nov/Dec-2009; 2010) Classification Based on Physical Configuration (or) Co-ordinate Systems: • Cartesian configuration • Cylindrical configuration • Polar configuration • Joint-arm configuration Cartesian Configuration: Robots with Cartesian configurations consist of links connected by linear joints (L). Gantry robots are Cartesian robots (LLL). .The designation of the arm for this configuration can be TRL or TRR. Robots with the designation TRL are also called spherical robots. Those with the designation TRR are also called articulatedrobots. An articulated robot more closely resembles the human arm. Configuration: Simple Comparison 3. short notes on Joint Notation Scheme. (AU-Nov/Dec-2009)
camera. The elements of the matrix are called picture elements, or pixels. The number of pixels are determined by a sampling process per formed on each frame. A single pixel is the projection of a small portion of the scene which reduces that portion to a single value. The value is a measure of the light intensity for that element of the scene. Each pixel intensity is converted into a digital value. (We are ignoring the additional complexities involved in the operation of a color video camera.) The digitized image matrix for each frame is stored and then subjected to image processing and analysis functions for data reduction and interpretation of the image. These steps are required in order to permit the real-time application of vision analysis required in robotic applications. Typically an image frame will be thresholded to produce a binary image, and then various feature measurements will further reduce the data representation of the This data reduction can change the representation of a frame from several. 6. Explain the various techniques in Processing and Analysis. In the industrial applications the algorithms and programs are developed to process the images captured, digitized and stored in the computer memory.The size of data to be processed is huge, of the order of 106 which is to be substantially executed in seconds.The difficult and time task of processing is handled effectively by the following techniques.
When the Pendant is in manual mode, these buttons select which robot joint will move, or the coordinate axis along which the robot will move. 6. Manual State LEDs: The manual state LEDs indicates the type of manual motion that has been selected. 7. Speed Bars: The speed bars are used to control the robot‘s speed and direction. Pressing the speed bar near the outer ends will move the robot faster, while pressing the speed bar near the center will move the robot slower. 8. Slow Button: The slow button selects between the two different speed ranges of the speed bars. 9. Predefined Function Buttons: The predefined function buttons have specific, system- wide functions assigned to them, like display of coordinates, clear error, etc. 10. Programmable Function Buttons: The programmable function buttons are used in custom application programs, and their functions will vary depending upon the program being run. 11. Soft Buttons: The ―soft‖ buttons have different functions depending on the application program being run, or the selection made from the predefined function buttons. 4. Write down the capabilities and limitations of Lead through methods. (AU-Nov/Dec-2009) During this programming method, the traveling of robots is on the desired movements, and it is stored in the external controller memory. There are two modes of a control system in this method such as a run mode and teach mode. The program is taught in the teach mode, and it is executed in the run mode. The leadthrough rogramming method can be done by two methods namely: Powered Leadthrough Method Manual Leadthrough Method