EBK CONCEPTS OF DATABASE MANAGEMENT
8th Edition
ISBN: 8220100706004
Author: Last
Publisher: Cengage Learning US
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Chapter 4, Problem 15RQ
To determine
To explain stored procedures and its purpose.
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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
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
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 4 Solutions
EBK 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. 1TDECh. 4 - Prob. 2TDECh. 4 - Prob. 3TDECh. 4 - Prob. 4TDECh. 4 - Prob. 5TDECh. 4 - Prob. 6TDECh. 4 - Prob. 7TDECh. 4 - Prob. 8TDECh. 4 - Prob. 9TDECh. 4 - Prob. 10TDECh. 4 - Prob. 11TDECh. 4 - Prob. 12TDECh. 4 - Prob. 13TDECh. 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. 1SCGCCh. 4 - Prob. 2SCGCCh. 4 - Prob. 3SCGCCh. 4 - Prob. 4SCGCCh. 4 - Prob. 5SCGCCh. 4 - Prob. 6SCGCCh. 4 - Prob. 7SCGCCh. 4 - Prob. 8SCGCCh. 4 - Prob. 9SCGCCh. 4 - Prob. 10SCGCCh. 4 - Prob. 11SCGCCh. 4 - Prob. 12SCGC
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