EBK NETWORK+ GUIDE TO NETWORKS
8th Edition
ISBN: 8220106798478
Author: ANDREWS
Publisher: YUZU
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Question
Chapter 12, Problem 19RQ
Program Plan Intro
VoIP (Voice over Internet Protocol)
Voice communication over internet is called as VoIP (Voice over Internet Protocol) or internet telephony.
- Real-time voice communication is done like telephones, but this is done with the help of the internet.
- Phone-to-phone communication is created using this technology; the internet is used for long distance data and voice transmission.
- VoIP service is cheaper than conventional telephone services.
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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
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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
Problem 1: Complete the following problems.
(a) Let {A}, {B}, {C}, {U} denote four frames. Given the transformations HU, HR, HG, find the
transformation matrix H.
Yeah York Austri, R. Noude that you need to provide
(b) Frame {A} has three axes denoted by RA, PA, 2A, respectively. Frame {B} is obtained by rotating about
YA by 30° and then subsequently translating along A axis by 2 units. Find the resulting
homogeneous transformation matrix HA.
Chapter 12 Solutions
EBK NETWORK+ GUIDE TO NETWORKS
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