📘PAPER 3 – ARTIFICIAL INTELLIGENCE & ROBOTICS UNIT 5 – COMPUTER VISION & ROBOT PROGRAMMING (university of allahabad)

 

🔴 UNIT 5 – COMPUTER VISION & ROBOT PROGRAMMING

(Very important for theory + application-based questions)

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👁️ 1. Computer Vision – Introduction

✅ Definition

Computer Vision is a field of AI that enables machines to:

• See

• Interpret

• Understand images and videos

Just like human vision, but using cameras and algorithms.

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👁️ 2. Components of Computer Vision System

Main Components:

1. Image Sensor (Camera)

2. Image Acquisition System

3. Image Processing Unit

4. Feature Extraction

5. Decision Making System

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👁️ 3. Image Formation Process

Steps:

1. Light falls on object

2. Reflected light captured by camera

3. Image converted into digital form

4. Image processed by computer

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👁️ 4. Image Processing Steps

🔹 Step 1: Image Acquisition

• Capturing image using camera or sensor

🔹 Step 2: Pre-processing

• Noise removal

• Image enhancement

• Filtering

🔹 Step 3: Segmentation

• Dividing image into meaningful parts

🔹 Step 4: Feature Extraction

• Shape

• Color

• Texture

🔹 Step 5: Recognition

• Object identification

• Classification

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👁️ 5. Object Recognition

Definition:

Identifying objects in an image.

Techniques:

• Template matching

• Feature-based recognition

• Pattern matching

Applications:

• Face recognition

• Number plate detection

• Medical imaging

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👁️ 6. Vision Training & Adaptation

Vision Training

Teaching the system to recognize objects using sample images.

Adaptation

System improves performance by:

• Learning from experience

• Updating database

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👁️ 7. Robot Programming

✅ Definition

Robot programming is the process of instructing a robot to perform tasks.

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🔹 Types of Robot Programming

1️⃣ Online Programming

• Robot programmed in real-time

• Uses teach pendant

• Slow but accurate

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2️⃣ Offline Programming

• Program written on computer

• Simulated before execution

• Faster and safer

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🤖 8. Robot Programming Languages

Language	Use
VAL	Industrial robots
AML	Manufacturing
RAPID	ABB robots
KRL	KUKA robots
Python	AI & robotics

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🤖 9. Robot Design

Key Factors:

✔ Mechanical design
✔ Sensors selection
✔ Actuators
✔ Control system
✔ Power supply

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🤖 10. Robot Process Specifications

Defines:

• Task sequence

• Speed

• Accuracy

• Safety limits

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🤖 11. Applications of Computer Vision & Robotics

✔ Industrial automation
✔ Medical diagnosis
✔ Surveillance
✔ Autonomous vehicles
✔ Face recognition
✔ Object detection

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📌 IMPORTANT EXAM QUESTIONS (UNIT 5)

✅ Explain computer vision system
✅ Steps in image processing
✅ Robot programming methods
✅ Vision training and adaptation
✅ Applications of robot vision

📘PAPER 3 – ARTIFICIAL INTELLIGENCE & ROBOTICS UNIT 4 – ROBOT MOTION & CONTROL (university of allahabad)

🔴 UNIT 4 – ROBOT MOTION & CONTROL

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🤖 1. Robot Motion

✅ Definition

Robot motion refers to the movement of robot parts (links & joints) to perform a task.

Robot motion includes:

• Translation

• Rotation

• Combined motion

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🔹 Types of Robot Motion

1️⃣ Translational Motion

Movement in a straight line.

✔ Forward
✔ Backward
✔ Left / Right

Example: Conveyor belt movement

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2️⃣ Rotational Motion

Movement around an axis.

✔ Joint rotation
✔ Arm rotation

Example: Robotic arm rotating to pick an object

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🤖 2. Motion Conversion

Definition:

Conversion of one type of motion into another.

Examples:

Input Motion	Output Motion
Rotary	Linear
Linear	Rotary

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Devices Used:

• Gears

• Belts

• Pulleys

• Lead screws

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🤖 3. Lagrangian Analysis of Manipulator

✅ Definition

Lagrangian method is used to analyze robot dynamics using:

• Kinetic energy (T)

• Potential energy (V)

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Lagrangian Equation:

$$L = T - V$$

Where:

• T = Kinetic Energy

• V = Potential Energy

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Purpose:

✔ Used to derive equations of motion
✔ Helps in control system design
✔ Used in robot dynamics

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🤖 4. Control of Actuators

✅ Actuator

An actuator converts electrical energy into mechanical motion.

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Types of Actuators:

🔹 1. Electric Actuators

• DC motor

• Stepper motor

• Servo motor

✔ Easy to control
✔ Used in most robots

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🔹 2. Hydraulic Actuators

• High force

• Used in heavy robots

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🔹 3. Pneumatic Actuators

• Uses compressed air

• Fast but less accurate

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🤖 5. Robot Control Systems

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🔹 Open Loop Control

• No feedback

• Simple

• Low accuracy

Example: Timer-based robot

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🔹 Closed Loop Control

• Feedback present

• High accuracy

• Used in industrial robots

Example: Servo motor system

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🤖 6. Robot Sensory Devices

✅ Definition

Sensors provide information about:

• Position

• Speed

• Force

• Environment

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Types of Sensors:

Sensor	Function
Position sensor	Joint position
Velocity sensor	Speed
Proximity sensor	Object detection
Touch sensor	Contact
Vision sensor	Image capture
Force sensor	Pressure detection

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🤖 7. Robot Motion Control System

Components:

1. Controller

2. Actuator

3. Sensor

4. Feedback loop

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Control Process:

1. Receive command

2. Compare with actual position

3. Generate error signal

4. Adjust movement

5. Reach target position

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🤖 8. Linear vs Non-Linear Control

Linear Control	Non-Linear Control
Simple equations	Complex equations
Easy to implement	Difficult to design
Less accurate	More accurate
Used in basic robots	Used in advanced robots

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🤖 9. Applications of Robot Motion Control

✔ Industrial automation
✔ Medical robots
✔ CNC machines
✔ Space robots
✔ Autonomous vehicles

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📌 EXAM IMPORTANT QUESTIONS (UNIT 4)

✅ Explain robot motion
✅ Lagrangian formulation
✅ Types of actuators
✅ Sensors used in robots
✅ Open vs closed loop control
✅ Motion conversion methods