====== Typical questions for exam test for Robotics ======


The exam consist of a test A (20 minutes), a test B (20 minutes), test C (40 minutes), and oral exam. \\
===== Test A ===== 
Example of questions in test:

  - Write down transformation expressions from cylindrical to cartezian coordinates.
  - What kinematical structure has a building site crane, make a simple drawing.
  - How many degrees of freedom has a computer mouse, how many of them it measures?
  - Transform point x=[1,2,3] from euclidean coordinates into homogeneous. 
  - What is it hybrid kinematic chain? 
  - Define operating space of the manipulator. 
  - Define direct kinematics. 
  - What sensors one can use for measuring position of revolute joint? 
  - List main advantages of pneumatic drive.

===== Test B ===== 
Example of questions in test:
  - Two coordinated systems are given. Calculate a matrix transforming from first coordinate system to the other. More questions on this topic.
  - Calculate the coordinates of the point in one coordinate system given its coordinates
  - Are three given vectors linearly independent?
  - Calculate the rank of the matrix.
  - What is the structure of the robot in the figure.

===== Test C ===== 
Solve direct and inverse kinematics of planar manipulator and find its jacobian in coordinates x, y, fi (drawing specifying the robot follows).


===== Oral ===== 
Oral exam typically discusses errors and ambiguities in written part, but may raise additional questions.
===== Requirements for the exam =====

The total points from labs, exam tests, and oral part of exam are summed together (maximum 100 points) and the final evaluation is determined according standard CTU regulation: [[http://www.cvut.cz/en/ects-ds/sp| classification table]] and [[http://cmp.felk.cvut.cz/cmp/courses/ROB/roblec/Novaklasifikacnistupnice0001-1.pdf| classification table]].

  - 90+ excellent,
  - 80+ very good,
  - 70+ good,
  - 60+ satisfactory,
  - 50+ sufficient,
  - 49- fail.