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Answer Key Collaborative Robotics

The document provides an overview of collaborative robotics, highlighting key properties of collaborative robots (cobots) and their differences from traditional robots, as well as comparisons among swarm, cooperative, and collaborative robots. It discusses the architecture and challenges of modern mobile robots, swarm behavior, modular designs, and collective decision-making models. Additionally, it covers human-cobot collaboration in assembly lines, emphasizing safety and productivity improvements.

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Gopinathan R
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10 views3 pages

Answer Key Collaborative Robotics

The document provides an overview of collaborative robotics, highlighting key properties of collaborative robots (cobots) and their differences from traditional robots, as well as comparisons among swarm, cooperative, and collaborative robots. It discusses the architecture and challenges of modern mobile robots, swarm behavior, modular designs, and collective decision-making models. Additionally, it covers human-cobot collaboration in assembly lines, emphasizing safety and productivity improvements.

Uploaded by

Gopinathan R
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

COLLABORATIVE ROBOTICS – PART B ANSWER KEY

Q11 i) Key Properties of Collaborative Robots and Differences from Traditional Robots
- Collaborative robots (cobots) feature force-limiting safety, proximity sensors, and compliant
design.
- Easy programming: hand-guiding, graphical interfaces.
- Flexible redeployment and modular tooling.
- Human interaction: cobots designed to work safely alongside humans.
Differences:
Safety: Cobots allow physical proximity; traditional robots need cages.
Flexibility: Cobots easily reprogrammed; traditional rigid.
Human interaction: Cobots share workspace; traditional isolated.

Q11 ii) Comparison of Swarm, Cooperative, Collaborative Robots


Swarm robots: decentralized, indirect communication (stigmergy), emergent behavior; e.g., drone
swarm.
Cooperative robots: robot–robot coordination, direct communication, shared tasks; e.g., multiple
robots lifting.
Collaborative robots: human–robot teamwork, sensor-based interaction, safe co-working; e.g.,
cobots in assembly.

Q12 i) Architecture and Working Principle of Modern Mobile Robots


Subsystems:
Mobility: wheels, tracks, legs.
Sensing: lidar, IMU, cameras.
Control: localization (SLAM), navigation, path planning.
Autonomy arises from integrated perception → decision → action loop.

Q12 ii) Challenges of Mobile Robot Manipulators and Solutions


Challenges: dynamic environments, uncertainty, manipulation accuracy, limited sensing, safety.
Solutions: improved SLAM, sensor fusion, adaptive control, compliant manipulators, better planning
algorithms.

Q13 i) Mapping and Kinematic Modeling in Swarm Robots


Mapping: distributed mapping, occupancy grids, topological mapping using multi-robot sharing.
Kinematics: differential drive, holonomic/omniwheel modeling. Simplified models improve swarm
control efficiency.

Q13 ii) State Transitions and Collective Decision-Making


State transitions: robots switch states (search, gather, return) based on stimuli.
Decision models: voting, quorum sensing, threshold models. Enable consensus without central
control.

Q14 i) Swarm Behavioral Scenarios


Aggregation: robots cluster.
Dispersion: spread out for coverage.
Pattern formation: geometric shapes.
Flocking: coordinated movement using alignment, cohesion, separation.
Importance: enables coverage, navigation, collective actions.

Q14 ii) Error Detection and Security in Swarm Robotics


Challenges: communication attacks, spoofing, drift, robot failures.
Strategies: redundancy, consensus filtering, anomaly detection, encryption, secure communication.

Q15 i) Modular Robot Designs and Representation


Modular design: reconfigurable units.
Representations: graph-based, lattice-based, kinematic, topological.
Advantages: flexibility, easy reconfiguration, scalability, reuse of module models.

Q15 ii) Kinematics of Modular Serial Robots and Calibration


Forward and inverse kinematics depend on connected modules.
Calibration improves link length accuracy, joint offsets, reducing positioning errors.

Q16 i) Dynamics of Modular Serial Robots


Dynamic effects: inertia, Coriolis, gravity.
Influence control strategies like torque control, impedance control.
Serial vs parallel: parallel robots have higher stiffness, better load distribution.

Q16 ii) Modular Parallel Robot Kinematics & Humanoid Robots in Industrial Interaction
Parallel kinematics: multiple legs controlling end-effector position.
Humanoids: perform tasks in human-designed spaces.
Safety: force sensing, compliance.
Applications: logistics, inspection.

Q17 i) Collective Decision-Making: Urn Model & Voter Model


Urn model: agents add/remove tokens based on probability → consensus.
Voter model: agents adopt neighbor opinions → convergence.

Q17 ii) Multi-Agent Formation Control Example


Scenario: drone area coverage.
Reconfiguration: adapt shape for obstacles.
Decision-making ensures robustness, task completion.

Q18 Majority Rule & Kuramoto Models


Majority rule: agents adopt majority in neighborhood.
Kuramoto: synchronization of oscillators; used in timing, coordinated motions.

Q18 ii) Reconfigurable Formation Control with Virtual Linkages


Robots connected via virtual links (desired distances).
Links modified dynamically for formation change.
Q19 Self-Assembly Modular Robot Platform (Sambot)
Architecture: docking mechanisms, sensors, communication.
Working: modules detect neighbors, attach/detach.
Applications: adaptive structures, collaborative tasks.

Q20 Human-Cobot Collaboration in Assembly Lines


Design: shared workspace, ergonomic layout.
Safety: force limiting, vision, proximity sensing.
Productivity: reduced cycle time, improved precision, shared tasks, fewer injuries.

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