The questions are written out of memory

Exam 12.5.2017

1 Create a RRP robot with your own link lengths
A) illustrate robot
B) DH table of the robot
C) Link and SerialLink command on matlab
D) join values [pi/2 0 1]

2
A) What is inverse kinematics
B) Difference between numeric and closed-form solution in inverse kinematics
C) What is Jacobian with manipulators and how it is used to calculate inverse kinematics

3
A) Name 2 programming languages used in IEC 61131-3 and what are the differences between them
B) Simple flowchart on an image - create a ladder PLC program of it, basically A->B->D->C->A