COMPUTER ORGANIZATION+DESIGN >I<
5th Edition
ISBN: 9781541868397
Author: Patterson
Publisher: ZYBOOKS (CC)
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Expert Solution & Answer
Chapter 1, Problem 1.11.5E
Explanation of Solution
The required SPEC ratio can be calculated using the following formula,
The above formula represents that SPEC ratio is inversely proportional to CPU time.
Expert Solution & Answer
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Students have asked these similar questions
Problem 3: Consider the two-link planar elbow manipulator shown below with link information: a₁ = 3,
a₂ = 3.
a2
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(a) Find the location of the end-effector P° if the joint angles are:
0₁ = 140°, 0₂ = 30°
(b) Find the values of joint variables 01, 02 if the robotic manipulator is commanded to reach the desired
location of Pº = [4.5, 3,0]. Notice there are possibly two sets of solutions.
(c) Also sketch the two poses of the robot for the computed joint variables.
Page 5 of 7
Problem 5: The following shows the schematic of a SCARA robot and its DH parameters. Complete the
following questions based on this information.
20
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The Jacobian matrix of this robot is given below:
-a1S1a2S12
-a2S12
J(q) =
a1c1 + a2c12
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10°
(a) For a₁ = 1, a2 = 2, is q = 180° a singularity configuration of this robot?
a1
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(b) For a₁ = 1, a2 = 2, is q = | 0° a singularity configuration of this robot?
3
(c) Consider the following sequence of rotations:
1) Rotate by 130° about the world z-axis
2) Rotate by 45° about the current x-axis
3) Rotate by -30° about the world/fixed y-axis
Compute the resulting overall rotation matrix R. Notice that you need to provide the numerical
solution to the matrix R.
(d) Find R giving the following rotation matrices.
1
0
0
1
√√3
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0
0
R₁₁ =
2
R₁ = 0
1
0
1
0
0
0
2
2
Chapter 1 Solutions
COMPUTER ORGANIZATION+DESIGN >I<
Ch. 1 - Prob. 1.1ECh. 1 - Prob. 1.2ECh. 1 - Prob. 1.3ECh. 1 - Prob. 1.4ECh. 1 - Prob. 1.5ECh. 1 - Prob. 1.6ECh. 1 - Prob. 1.7ECh. 1 - Prob. 1.8.1ECh. 1 - Prob. 1.8.2ECh. 1 - Prob. 1.8.3E
Ch. 1 - Prob. 1.9.1ECh. 1 - Prob. 1.9.2ECh. 1 - Prob. 1.9.3ECh. 1 - Prob. 1.10.1ECh. 1 - Prob. 1.10.2ECh. 1 - Prob. 1.10.3ECh. 1 - Prob. 1.10.4ECh. 1 - Prob. 1.11.1ECh. 1 - Prob. 1.11.2ECh. 1 - Prob. 1.11.3ECh. 1 - Prob. 1.11.4ECh. 1 - Prob. 1.11.5ECh. 1 - Prob. 1.11.6ECh. 1 - Prob. 1.11.7ECh. 1 - Prob. 1.11.8ECh. 1 - Prob. 1.11.9ECh. 1 - Prob. 1.11.10ECh. 1 - Prob. 1.11.11ECh. 1 - Prob. 1.12.1ECh. 1 - Prob. 1.12.2ECh. 1 - Prob. 1.12.3ECh. 1 - Prob. 1.12.4ECh. 1 - Prob. 1.13.1ECh. 1 - Prob. 1.13.2ECh. 1 - Prob. 1.13.3ECh. 1 - Prob. 1.14.1ECh. 1 - Prob. 1.14.2ECh. 1 - Prob. 1.14.3ECh. 1 - Prob. 1.15E
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