Computer Networking: A Top-Down Approach (7th Edition)
7th Edition
ISBN: 9780133594140
Author: James Kurose, Keith Ross
Publisher: PEARSON
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Chapter 1, Problem R7RQ
Program Plan Intro
Local Area Network (LAN):
Local area network is a
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Problem 3: Consider the two-link planar elbow manipulator shown below with link information: a₁ = 3,
a₂ = 3.
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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.
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The Jacobian matrix of this robot is given below:
-a1S1a2S12
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J(q) =
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(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
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√√3
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0
R₁₁ =
2
R₁ = 0
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Chapter 1 Solutions
Computer Networking: A Top-Down Approach (7th Edition)
Ch. 1 - What is the difference between a host and an end...Ch. 1 - The word protocol is often used to describe...Ch. 1 - Why are standards important for protocols?Ch. 1 - Prob. R4RQCh. 1 - Prob. R5RQCh. 1 - Prob. R6RQCh. 1 - Prob. R7RQCh. 1 - Prob. R8RQCh. 1 - Prob. R9RQCh. 1 - Prob. R10RQ
Ch. 1 - Prob. R11RQCh. 1 - What advantage does a circuit-switched network...Ch. 1 - Prob. R13RQCh. 1 - Prob. R14RQCh. 1 - Prob. R15RQCh. 1 - Prob. R16RQCh. 1 - Prob. R17RQCh. 1 - Prob. R18RQCh. 1 - Suppose Host A wants to send a large file to Host...Ch. 1 - Prob. R20RQCh. 1 - Prob. R21RQCh. 1 - Prob. R22RQCh. 1 - What are the five layers in the Internet protocol...Ch. 1 - Prob. R24RQCh. 1 - Prob. R25RQCh. 1 - Prob. R26RQCh. 1 - Prob. R27RQCh. 1 - Prob. R28RQCh. 1 - Equation 1.1 gives a formula for the end-to-end...Ch. 1 - Prob. P3PCh. 1 - Prob. P4PCh. 1 - Prob. P5PCh. 1 - This elementary problem begins to explore...Ch. 1 - Prob. P7PCh. 1 - Suppose users share a 3 Mbps link. Also suppose...Ch. 1 - Prob. P9PCh. 1 - Prob. P10PCh. 1 - In the above problem, suppose R1 = R2 = R3 = R and...Ch. 1 - Prob. P13PCh. 1 - Consider the queuing delay in a router buffer. Let...Ch. 1 - Prob. P15PCh. 1 - Prob. P16PCh. 1 - Prob. P17PCh. 1 - Prob. P20PCh. 1 - Prob. P21PCh. 1 - Prob. P22PCh. 1 - Prob. P23PCh. 1 - Prob. P24PCh. 1 - Prob. P25PCh. 1 - Prob. P26PCh. 1 - Prob. P27PCh. 1 - Prob. P28PCh. 1 - Prob. P29PCh. 1 - Prob. P30PCh. 1 - Prob. P31PCh. 1 - Prob. P32PCh. 1 - Prob. P33PCh. 1 - Prob. P34P
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