Concepts of Database Management
8th Edition
ISBN: 9781285427102
Author: Philip J. Pratt, Mary Z. Last
Publisher: Cengage Learning
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Question
Chapter 3, Problem 12RQ
To determine
To describe the method of taking the union of two tables in SQL and the criteria for tables to make the union possible.
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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 3 Solutions
Concepts of Database Management
Ch. 3 - Prob. 1RQCh. 3 - Prob. 2RQCh. 3 - Prob. 3RQCh. 3 - Prob. 4RQCh. 3 - Prob. 5RQCh. 3 - Prob. 6RQCh. 3 - Prob. 7RQCh. 3 - Prob. 8RQCh. 3 - Prob. 9RQCh. 3 - Prob. 10RQ
Ch. 3 - Prob. 11RQCh. 3 - Prob. 12RQCh. 3 - Prob. 13RQCh. 3 - Prob. 14RQCh. 3 - Prob. 15RQCh. 3 - Prob. 16RQCh. 3 - Prob. 1TDECh. 3 - Prob. 2TDECh. 3 - Prob. 3TDECh. 3 - Prob. 4TDECh. 3 - Prob. 5TDECh. 3 - Prob. 6TDECh. 3 - Prob. 7TDECh. 3 - Prob. 8TDECh. 3 - Prob. 9TDECh. 3 - Prob. 10TDECh. 3 - Prob. 11TDECh. 3 - Prob. 12TDECh. 3 - Prob. 13TDECh. 3 - Prob. 14TDECh. 3 - Prob. 15TDECh. 3 - Prob. 16TDECh. 3 - Prob. 17TDECh. 3 - Prob. 18TDECh. 3 - Prob. 1CATCCh. 3 - Prob. 2CATCCh. 3 - Prob. 3CATCCh. 3 - Prob. 4CATCCh. 3 - Prob. 5CATCCh. 3 - Prob. 6CATCCh. 3 - Prob. 7CATCCh. 3 - Prob. 8CATCCh. 3 - Prob. 9CATCCh. 3 - Prob. 10CATCCh. 3 - Prob. 11CATCCh. 3 - Prob. 12CATCCh. 3 - Prob. 13CATCCh. 3 - Prob. 14CATCCh. 3 - Prob. 15CATCCh. 3 - Prob. 16CATCCh. 3 - Prob. 17CATCCh. 3 - Prob. 18CATCCh. 3 - Prob. 19CATCCh. 3 - Prob. 1SCGCCh. 3 - Prob. 2SCGCCh. 3 - Prob. 3SCGCCh. 3 - Prob. 4SCGCCh. 3 - Prob. 5SCGCCh. 3 - Prob. 6SCGCCh. 3 - Prob. 7SCGCCh. 3 - Prob. 8SCGCCh. 3 - Prob. 9SCGCCh. 3 - Prob. 10SCGCCh. 3 - Prob. 11SCGCCh. 3 - Prob. 12SCGCCh. 3 - Prob. 13SCGCCh. 3 - Prob. 14SCGCCh. 3 - Prob. 15SCGCCh. 3 - Prob. 16SCGCCh. 3 - Prob. 17SCGCCh. 3 - Prob. 18SCGCCh. 3 - Prob. 19SCGCCh. 3 - Prob. 20SCGCCh. 3 - Prob. 21SCGCCh. 3 - Prob. 22SCGC
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