The document contains a midterm exam for a Robotics course, with 3 questions covering key robotics topics. Question 1 asks about the Jacobian matrix and how it is used to evaluate robot velocity, Newton-Euler formulation for robot arms, and advantages of robot arc welding. Question 2 asks to compare different end effectors and explain potentiometers and electric actuators. Question 3 asks about singularities in manipulators, their classification and determination, and applications of robots in automated assembly.