EBK COMPUTER NETWORKING
7th Edition
ISBN: 8220102955479
Author: Ross
Publisher: PEARSON
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Chapter 2, Problem R24RQ
Program Plan Intro
CDN:
A Content Delivery Network or Content Distribution Network also known as CDN, is a geographically distributed group of servers which work together to provide fast delivery of internet content.
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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
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
Ch. 2 - Why do HTTP, SMTP, and POP3 run on top of TCP...Ch. 2 - Prob. R12RQCh. 2 - Prob. R13RQCh. 2 - Prob. R14RQCh. 2 - Prob. R15RQCh. 2 - Prob. R16RQCh. 2 - Prob. R17RQCh. 2 - From a users perspective, what is the difference...Ch. 2 - Prob. R19RQCh. 2 - Prob. R20RQCh. 2 - Prob. R21RQCh. 2 - Prob. R22RQCh. 2 - Prob. R23RQCh. 2 - Prob. R24RQCh. 2 - Prob. R25RQCh. 2 - In Section 2.7, the UDP server described needed...Ch. 2 - Prob. R27RQCh. 2 - Prob. P1PCh. 2 - Prob. P2PCh. 2 - Prob. P3PCh. 2 - Prob. P4PCh. 2 - Prob. P5PCh. 2 - Prob. P6PCh. 2 - Prob. P7PCh. 2 - Prob. P8PCh. 2 - Prob. P9PCh. 2 - Prob. P10PCh. 2 - Prob. P11PCh. 2 - Prob. P13PCh. 2 - Prob. P14PCh. 2 - Prob. P15PCh. 2 - Prob. P16PCh. 2 - Prob. P17PCh. 2 - Suppose you can access the caches in the local DNS...Ch. 2 - Prob. P21PCh. 2 - Prob. P22PCh. 2 - Prob. P23PCh. 2 - Prob. P25PCh. 2 - Prob. P26PCh. 2 - Prob. P27PCh. 2 - Prob. P28PCh. 2 - Prob. P29PCh. 2 - Prob. P30PCh. 2 - Prob. P31PCh. 2 - Prob. P32P
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