Concepts of Database Management
9th Edition
ISBN: 9781337093422
Author: Joy L. Starks, Philip J. Pratt, Mary Z. Last
Publisher: Cengage Learning
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Question
Chapter 2, Problem 14RQ
To determine
To explain which field the major sort key is, and which is the minor sort key when data is sorted on more than one field in an access query. Also, explain the effect of these keys on the order of display of rows.
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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 2 Solutions
Concepts of Database Management
Ch. 2 - Prob. 1RQCh. 2 - Prob. 2RQCh. 2 - Prob. 3RQCh. 2 - Prob. 4RQCh. 2 - Prob. 5RQCh. 2 - Prob. 6RQCh. 2 - Prob. 7RQCh. 2 - Prob. 8RQCh. 2 - Prob. 9RQCh. 2 - Prob. 10RQ
Ch. 2 - Prob. 11RQCh. 2 - Prob. 12RQCh. 2 - Prob. 13RQCh. 2 - Prob. 14RQCh. 2 - Prob. 15RQCh. 2 - Prob. 16RQCh. 2 - Prob. 17RQCh. 2 - Prob. 18RQCh. 2 - Prob. 19RQCh. 2 - Prob. 20RQCh. 2 - Prob. 21RQCh. 2 - Prob. 22RQCh. 2 - Prob. 23RQCh. 2 - Prob. 24RQCh. 2 - Prob. 25RQCh. 2 - Prob. 26RQCh. 2 - Prob. 27RQCh. 2 - Prob. 28RQCh. 2 - Prob. 29RQCh. 2 - Prob. 30RQCh. 2 - Prob. 1BCEQBECh. 2 - Prob. 2BCEQBECh. 2 - Prob. 3BCEQBECh. 2 - Prob. 4BCEQBECh. 2 - Prob. 5BCEQBECh. 2 - Prob. 6BCEQBECh. 2 - Prob. 7BCEQBECh. 2 - Prob. 8BCEQBECh. 2 - Prob. 9BCEQBECh. 2 - Prob. 10BCEQBECh. 2 - Prob. 11BCEQBECh. 2 - Prob. 12BCEQBECh. 2 - Prob. 13BCEQBECh. 2 - Prob. 14BCEQBECh. 2 - Prob. 15BCEQBECh. 2 - Prob. 16BCEQBECh. 2 - Prob. 17BCEQBECh. 2 - Prob. 18BCEQBECh. 2 - Prob. 1BCERACh. 2 - Prob. 2BCERACh. 2 - Prob. 3BCERACh. 2 - Prob. 4BCERACh. 2 - Prob. 5BCERACh. 2 - Prob. 6BCERACh. 2 - Prob. 7BCERACh. 2 - Prob. 1CATCCh. 2 - Prob. 2CATCCh. 2 - Prob. 3CATCCh. 2 - Prob. 4CATCCh. 2 - Prob. 5CATCCh. 2 - Prob. 6CATCCh. 2 - Prob. 7CATCCh. 2 - Prob. 8CATCCh. 2 - Prob. 9CATCCh. 2 - Prob. 10CATCCh. 2 - Prob. 11CATCCh. 2 - Prob. 12CATCCh. 2 - Prob. 13CATCCh. 2 - Prob. 14CATCCh. 2 - Prob. 15CATCCh. 2 - Prob. 16CATCCh. 2 - Prob. 17CATCCh. 2 - Prob. 18CATCCh. 2 - Prob. 1SPTCCh. 2 - Prob. 2SPTCCh. 2 - Prob. 3SPTCCh. 2 - Prob. 4SPTCCh. 2 - Prob. 5SPTCCh. 2 - Prob. 6SPTCCh. 2 - Prob. 7SPTCCh. 2 - Prob. 8SPTCCh. 2 - Prob. 9SPTCCh. 2 - Prob. 10SPTCCh. 2 - Prob. 11SPTCCh. 2 - Prob. 12SPTCCh. 2 - Prob. 13SPTCCh. 2 - Prob. 14SPTCCh. 2 - Prob. 15SPTCCh. 2 - Prob. 16SPTCCh. 2 - Prob. 17SPTCCh. 2 - Prob. 18SPTCCh. 2 - Prob. 19SPTC
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