COMPUTER ORGANIZATION+DESIGN >I<
5th Edition
ISBN: 9781541868397
Author: Patterson
Publisher: ZYBOOKS (CC)
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Expert Solution & Answer
Chapter 4, Problem 4.1.1E
Explanation of Solution
Control signals of the image:
- ALUMux is the control signal that is used to control the Mux at the ALU input.
- RegMux is the control signal that is used to control the Mux at the data input to the register file.
Operation process that take place:
- From the given instruction, AND is the ALU operation that is to be performed.
- BSrc is the Mux that is present at the southern part which is used to determine whether the immediate operand or register is being passed to the ALU.
- OpSel is the command that is send to the ALU.
- MemWrite will be false since no memory write operation is performed.
- RegWrite will be true because data are written back to the register Rd.
- RegDst is the destination register and it will hold Rd.
- PCSrc will remain same since no jump operation is performed. Its value will be “PC+4”.
Value of the control signals are:
- RegWrite = 0
- MemRead = 0
- AluMux = 1
- MemWrite= 1
- ALUop = ADD
- Reg,ux = x
- Branch = 0
Process:
- 0(Reg) will select the output of the register file and 1(IMM) will select the immediate instruction word as use it as a second input to the ALU.
- 0 (ALU) will select the output of the ALU that is provided, and 1 (Mem) will select the output of memory.
- “X” indicates the don’t care value.
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Problem 3: Consider the two-link planar elbow manipulator shown below with link information: a₁ = 3,
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(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.
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(c) Consider the following sequence of rotations:
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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
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Chapter 4 Solutions
COMPUTER ORGANIZATION+DESIGN >I<
Ch. 4 - Prob. 4.1.1ECh. 4 - Prob. 4.1.2ECh. 4 - Prob. 4.1.3ECh. 4 - Prob. 4.2.1ECh. 4 - Prob. 4.2.2ECh. 4 - Prob. 4.2.3ECh. 4 - Prob. 4.3.1ECh. 4 - Prob. 4.3.2ECh. 4 - Prob. 4.3.3ECh. 4 - Prob. 4.4.1E
Ch. 4 - Prob. 4.4.2ECh. 4 - Prob. 4.4.3ECh. 4 - Prob. 4.4.4ECh. 4 - Prob. 4.4.5ECh. 4 - Prob. 4.4.6ECh. 4 - Prob. 4.5.1ECh. 4 - Prob. 4.5.2ECh. 4 - Prob. 4.6.1ECh. 4 - Prob. 4.6.2ECh. 4 - Prob. 4.6.3ECh. 4 - Prob. 4.6.4ECh. 4 - Prob. 4.6.5ECh. 4 - Prob. 4.7.1ECh. 4 - Prob. 4.7.2ECh. 4 - Prob. 4.7.3ECh. 4 - Prob. 4.7.4ECh. 4 - Prob. 4.7.5ECh. 4 - Prob. 4.7.6ECh. 4 - Prob. 4.8.1ECh. 4 - Prob. 4.8.2ECh. 4 - Prob. 4.8.3ECh. 4 - Prob. 4.8.4ECh. 4 - Prob. 4.8.5ECh. 4 - Prob. 4.8.6ECh. 4 - Prob. 4.9.1ECh. 4 - Prob. 4.9.2ECh. 4 - Prob. 4.9.3ECh. 4 - Prob. 4.9.4ECh. 4 - Prob. 4.9.5ECh. 4 - Prob. 4.9.6ECh. 4 - Prob. 4.10.1ECh. 4 - Prob. 4.10.2ECh. 4 - Prob. 4.10.3ECh. 4 - Prob. 4.10.4ECh. 4 - Prob. 4.10.5ECh. 4 - Prob. 4.10.6ECh. 4 - Prob. 4.11.1ECh. 4 - Prob. 4.11.2ECh. 4 - Prob. 4.12.1ECh. 4 - Prob. 4.12.2ECh. 4 - Prob. 4.12.3ECh. 4 - Prob. 4.12.4ECh. 4 - Prob. 4.12.5ECh. 4 - Prob. 4.12.6ECh. 4 - Prob. 4.13.1ECh. 4 - Prob. 4.13.2ECh. 4 - Prob. 4.13.3ECh. 4 - Prob. 4.13.4ECh. 4 - Prob. 4.13.5ECh. 4 - Prob. 4.13.6ECh. 4 - Prob. 4.14.1ECh. 4 - Prob. 4.14.2ECh. 4 - Prob. 4.14.3ECh. 4 - Prob. 4.14.4ECh. 4 - Prob. 4.14.5ECh. 4 - Prob. 4.14.6ECh. 4 - Prob. 4.15.1ECh. 4 - Prob. 4.15.2ECh. 4 - Prob. 4.15.3ECh. 4 - Prob. 4.15.4ECh. 4 - Prob. 4.15.5ECh. 4 - Prob. 4.15.6ECh. 4 - Prob. 4.16.1ECh. 4 - Prob. 4.16.2ECh. 4 - Prob. 4.16.3ECh. 4 - Prob. 4.16.4ECh. 4 - Prob. 4.16.5ECh. 4 - Prob. 4.16.6ECh. 4 - Prob. 4.17.1ECh. 4 - Prob. 4.17.2ECh. 4 - Prob. 4.17.3ECh. 4 - Prob. 4.17.4ECh. 4 - Prob. 4.17.5ECh. 4 - Prob. 4.18.1ECh. 4 - Prob. 4.18.2ECh. 4 - Prob. 4.18.3ECh. 4 - Prob. 4.18.4ECh. 4 - Prob. 4.18.5ECh. 4 - Prob. 4.18.6ECh. 4 - Prob. 4.19.1ECh. 4 - Prob. 4.19.2ECh. 4 - Prob. 4.19.3ECh. 4 - Prob. 4.19.4ECh. 4 - Prob. 4.19.5ECh. 4 - Prob. 4.19.6E
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