EBK COMPUTER NETWORKING
7th Edition
ISBN: 8220102955479
Author: Ross
Publisher: PEARSON
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Chapter 2, Problem P14P
Program Plan Intro
HTTP:
The web application uses Hyper Text Transfer Protocol (HTTP) as application layer protocol.
HTTP is an application protocol for distributive, collaborative, and hypermedia
SMTP:
The Simple Mail Transfer Protocol (SMTP) is used in E-mail related applications.
The SMTP is only an application layer delivery protocol which is an internet standard for electronic mail transformation.
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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
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ai
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di
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21
d3
1
a1
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2
a2
180°
0
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0
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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 2 Solutions
EBK COMPUTER NETWORKING
Ch. 2 - List five nonproprietary Internet applications and...Ch. 2 - Prob. R2RQCh. 2 - Prob. R3RQCh. 2 - Prob. R4RQCh. 2 - Prob. R5RQCh. 2 - Prob. R6RQCh. 2 - Prob. R7RQCh. 2 - Prob. R8RQCh. 2 - Prob. R9RQCh. 2 - Prob. R10RQ
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