EBK CONCEPTS OF DATABASE MANAGEMENT
9th Edition
ISBN: 9781337670494
Author: Last
Publisher: Cengage Learning
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Question
Chapter 1, Problem 3RQ
To determine
Definition of entity and attribute.
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Problem 3: Consider the two-link planar elbow manipulator shown below with link information: a₁ = 3,
a₂ = 3.
a2
S
3/0
Link | a | ai | di
ai
| di | 0i |
มา
02
21
02.
12
01
0 0 01
02
0
0
02
01
To
(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
01
21
02.
22
done by
ai
α;
di
Ꮎ ;
21
d3
1
a1
0
0
0₁**
2
a2
180°
0
0%
3
0
0
d3
0
The Jacobian matrix of this robot is given below:
-a1S1a2S12
-a2S12
J(q) =
a1c1 + a2c12
0
a2C12
0
10°
(a) For a₁ = 1, a2 = 2, is q = 180° a singularity configuration of this robot?
a1
3
[10°1
(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
го о
0
0
R₁₁ =
2
R₁ = 0
1
0
1
0
0
0
2
2
Chapter 1 Solutions
EBK CONCEPTS OF DATABASE MANAGEMENT
Ch. 1 - Prob. 1RQCh. 1 - Prob. 2RQCh. 1 - Prob. 3RQCh. 1 - Prob. 4RQCh. 1 - Prob. 5RQCh. 1 - Prob. 6RQCh. 1 - Prob. 7RQCh. 1 - Prob. 8RQCh. 1 - Prob. 9RQCh. 1 - Prob. 10RQ
Ch. 1 - Prob. 11RQCh. 1 - Prob. 12RQCh. 1 - Prob. 13RQCh. 1 - Prob. 14RQCh. 1 - Prob. 15RQCh. 1 - Prob. 16RQCh. 1 - Prob. 17RQCh. 1 - Prob. 18RQCh. 1 - Prob. 19RQCh. 1 - Prob. 20RQCh. 1 - Prob. 21RQCh. 1 - Prob. 22RQCh. 1 - Prob. 23RQCh. 1 - Prob. 24RQCh. 1 - Prob. 1BCECh. 1 - Prob. 2BCECh. 1 - Prob. 3BCECh. 1 - Prob. 4BCECh. 1 - Prob. 5BCECh. 1 - Prob. 6BCECh. 1 - Prob. 7BCECh. 1 - Prob. 8BCECh. 1 - Prob. 9BCECh. 1 - Prob. 10BCECh. 1 - Prob. 11BCECh. 1 - Prob. 12BCECh. 1 - Prob. 13BCECh. 1 - Prob. 1CATCCh. 1 - Prob. 2CATCCh. 1 - Prob. 3CATCCh. 1 - Prob. 4CATCCh. 1 - Prob. 5CATCCh. 1 - Prob. 6CATCCh. 1 - Prob. 7CATCCh. 1 - Prob. 8CATCCh. 1 - Prob. 9CATCCh. 1 - Prob. 10CATCCh. 1 - Prob. 11CATCCh. 1 - Prob. 12CATCCh. 1 - Prob. 13CATCCh. 1 - Prob. 14CATCCh. 1 - Prob. 15CATCCh. 1 - Prob. 16CATCCh. 1 - Prob. 17CATCCh. 1 - Prob. 1SPTCCh. 1 - Prob. 2SPTCCh. 1 - Prob. 3SPTCCh. 1 - Prob. 4SPTCCh. 1 - Prob. 5SPTCCh. 1 - Prob. 6SPTCCh. 1 - Prob. 7SPTCCh. 1 - Prob. 8SPTCCh. 1 - Prob. 9SPTCCh. 1 - Prob. 10SPTCCh. 1 - Prob. 11SPTC
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