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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Chapter 4, Problem 13CATC
To determine
To identify and add the referential integrity for the tables other than reservation in the Colonial Adventure Tours
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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 4 Solutions
Concepts of Database Management
Ch. 4 - Prob. 1RQCh. 4 - Prob. 2RQCh. 4 - Prob. 3RQCh. 4 - Prob. 4RQCh. 4 - Prob. 5RQCh. 4 - Prob. 6RQCh. 4 - Prob. 7RQCh. 4 - Prob. 8RQCh. 4 - Prob. 9RQCh. 4 - Prob. 10RQ
Ch. 4 - Prob. 11RQCh. 4 - Prob. 12RQCh. 4 - Prob. 13RQCh. 4 - Prob. 14RQCh. 4 - Prob. 15RQCh. 4 - Prob. 16RQCh. 4 - Prob. 17RQCh. 4 - Prob. 18RQCh. 4 - Prob. 1BCECh. 4 - Prob. 2BCECh. 4 - Prob. 3BCECh. 4 - Prob. 4BCECh. 4 - Prob. 5BCECh. 4 - Prob. 6BCECh. 4 - Prob. 7BCECh. 4 - Prob. 8BCECh. 4 - Prob. 9BCECh. 4 - Prob. 10BCECh. 4 - Prob. 11BCECh. 4 - Prob. 12BCECh. 4 - Prob. 1CATCCh. 4 - Prob. 2CATCCh. 4 - Prob. 3CATCCh. 4 - Prob. 4CATCCh. 4 - Prob. 5CATCCh. 4 - Prob. 6CATCCh. 4 - Prob. 7CATCCh. 4 - Prob. 8CATCCh. 4 - Prob. 9CATCCh. 4 - Prob. 10CATCCh. 4 - Prob. 11CATCCh. 4 - Prob. 12CATCCh. 4 - Prob. 13CATCCh. 4 - Prob. 14CATCCh. 4 - Prob. 1SPTCCh. 4 - Prob. 2SPTCCh. 4 - Prob. 3SPTCCh. 4 - Prob. 4SPTCCh. 4 - Prob. 5SPTCCh. 4 - Prob. 6SPTCCh. 4 - Prob. 7SPTCCh. 4 - Prob. 8SPTCCh. 4 - Prob. 9SPTCCh. 4 - Prob. 10SPTCCh. 4 - Prob. 11SPTCCh. 4 - Prob. 12SPTC
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St End W Cum ARCHA FOREIGN KEY (Patient REFERENCES P CREATE TABLE DNT AUTO INCREMENT PRIMARY VARCHAR Преспавлявал масн Departe ICHARITOO Contact Info WOWRIS CHEAT TABLE Appointments Apport DIN AUTONEMENT PRIMARY D INT Doctor D INT Aparent DevCATE Explain these in detail and why you used this IN NIO Nine, Age, Gender, Address Contact Medical Hond HALLES Ca 30 M. 10th St. 555 123, atory of meer 22 F20 Street, 555-5678 Noagnificant cal INSERT INTO Test, on est Te Narel VALUES гово Tog bom test 0 Det type D R VALUES 112024-12-15, 1, N…arrow_forwardI need help with this problem, and an explanation for the solution is described below (Fundamentals of Computer Engineering: ModelSim - standard edition). I need help fixing errors on the VHDL so that the counter counts up from 1 to 7 of both files, as the attached image shows when compiled. 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