Concepts of Database Management
8th Edition
ISBN: 9781285427102
Author: Philip J. Pratt, Mary Z. Last
Publisher: Cengage Learning
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Chapter 2, Problem 18CATC
To determine
To find incorrection in the given query and correct it.
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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.
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21
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21
d3
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The Jacobian matrix of this robot is given below:
-a1S1a2S12
-a2S12
J(q) =
a1c1 + a2c12
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a2C12
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10°
(a) For a₁ = 1, a2 = 2, is q = 180° a singularity configuration of this robot?
a1
3
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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.
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R₁₁ =
2
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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 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. 1TDEQBECh. 2 - Prob. 2TDEQBECh. 2 - Prob. 3TDEQBECh. 2 - Prob. 4TDEQBECh. 2 - Prob. 5TDEQBECh. 2 - Prob. 6TDEQBECh. 2 - Prob. 7TDEQBECh. 2 - Prob. 8TDEQBECh. 2 - Prob. 9TDEQBECh. 2 - Prob. 10TDEQBECh. 2 - Prob. 11TDEQBECh. 2 - Prob. 12TDEQBECh. 2 - Prob. 13TDEQBECh. 2 - Prob. 14TDEQBECh. 2 - Prob. 15TDEQBECh. 2 - Prob. 16TDEQBECh. 2 - Prob. 17TDEQBECh. 2 - Prob. 18TDEQBECh. 2 - Prob. 1TDERACh. 2 - Prob. 2TDERACh. 2 - Prob. 3TDERACh. 2 - Prob. 4TDERACh. 2 - Prob. 5TDERACh. 2 - Prob. 6TDERACh. 2 - Prob. 7TDERACh. 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. 1SCGCCh. 2 - Prob. 2SCGCCh. 2 - Prob. 3SCGCCh. 2 - Prob. 4SCGCCh. 2 - Prob. 5SCGCCh. 2 - Prob. 6SCGCCh. 2 - Prob. 7SCGCCh. 2 - Prob. 8SCGCCh. 2 - Prob. 9SCGCCh. 2 - Prob. 10SCGCCh. 2 - Prob. 11SCGCCh. 2 - Prob. 12SCGCCh. 2 - Prob. 13SCGCCh. 2 - Prob. 14SCGCCh. 2 - Prob. 15SCGCCh. 2 - Prob. 16SCGCCh. 2 - Prob. 17SCGCCh. 2 - Prob. 18SCGCCh. 2 - Prob. 19SCGCCh. 2 - Prob. 20SCGCCh. 2 - Prob. 21SCGC
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