Computer Networking: A Top-Down Approach (7th Edition)
7th Edition
ISBN: 9780133594140
Author: James Kurose, Keith Ross
Publisher: PEARSON
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Chapter 4, Problem R27RQ
Program Plan Intro
Aggregation:
- Aggregation is used when classes actually comprise or contain other classes.
- It can occur when a class is a collection or container of other classes such that the contained classes are not fully dependent on container class, so if container is deleted then its contents can still exist.
- This association describes “is a part of” or “is made up of” relationship between classes.
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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
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21
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22
done by
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di
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21
d3
1
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0
0
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a2
180°
0
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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
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(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
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0
0
R₁₁ =
2
R₁ = 0
1
0
1
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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
Computer Networking: A Top-Down Approach (7th Edition)
Ch. 4 - Lets review some of the terminology used in this...Ch. 4 - Prob. R2RQCh. 4 - Prob. R3RQCh. 4 - Prob. R4RQCh. 4 - Prob. R5RQCh. 4 - Prob. R6RQCh. 4 - Prob. R7RQCh. 4 - Prob. R8RQCh. 4 - Prob. R9RQCh. 4 - Prob. R10RQ
Ch. 4 - Prob. R11RQCh. 4 - Prob. R12RQCh. 4 - Prob. R13RQCh. 4 - Prob. R14RQCh. 4 - Prob. R15RQCh. 4 - Prob. R16RQCh. 4 - Prob. R17RQCh. 4 - Prob. R18RQCh. 4 - Prob. R19RQCh. 4 - Prob. R20RQCh. 4 - Prob. R21RQCh. 4 - Prob. R22RQCh. 4 - Prob. R23RQCh. 4 - Prob. R24RQCh. 4 - Prob. R25RQCh. 4 - Prob. R26RQCh. 4 - Prob. R27RQCh. 4 - Prob. R28RQCh. 4 - Prob. R29RQCh. 4 - Prob. R30RQCh. 4 - Prob. R31RQCh. 4 - Prob. R32RQCh. 4 - Prob. R33RQCh. 4 - Prob. R34RQCh. 4 - Prob. R35RQCh. 4 - Prob. P1PCh. 4 - Prob. P2PCh. 4 - Prob. P3PCh. 4 - Consider a datagram network using 32-bit host...Ch. 4 - Consider a datagram network using 8-bit host...Ch. 4 - Consider a datagram network using 8-bit host...Ch. 4 - Prob. P8PCh. 4 - Prob. P9PCh. 4 - Prob. P10PCh. 4 - Prob. P11PCh. 4 - Prob. P12PCh. 4 - Consider sending a 2400-byte datagram into a link...Ch. 4 - Prob. P15PCh. 4 - Prob. P16PCh. 4 - Prob. P17PCh. 4 - Prob. P18PCh. 4 - Prob. P19PCh. 4 - Prob. P20PCh. 4 - Prob. P21PCh. 4 - Prob. P22P
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