Computer Networking: A Top-Down Approach (7th Edition)
7th Edition
ISBN: 9780133594140
Author: James Kurose, Keith Ross
Publisher: PEARSON
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Chapter 8, Problem P2P
Program Plan Intro
Known-Plaintext attack:
The Known-Plaintext attack is an attack model where the attacker has an access to the cipher text and its corresponding plaintext.
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Problem 3: Consider the two-link planar elbow manipulator shown below with link information: a₁ = 3,
a₂ = 3.
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(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.
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The Jacobian matrix of this robot is given below:
-a1S1a2S12
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(a) For a₁ = 1, a2 = 2, is q = 180° a singularity configuration of this robot?
a1
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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
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√√3
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R₁₁ =
2
R₁ = 0
1
0
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2
Chapter 8 Solutions
Computer Networking: A Top-Down Approach (7th Edition)
Ch. 8 - Prob. R1RQCh. 8 - Prob. R2RQCh. 8 - Prob. R3RQCh. 8 - Prob. R4RQCh. 8 - Prob. R5RQCh. 8 - Prob. R6RQCh. 8 - Prob. R7RQCh. 8 - Prob. R8RQCh. 8 - Prob. R9RQCh. 8 - Prob. R10RQ
Ch. 8 - Prob. R11RQCh. 8 - Prob. R12RQCh. 8 - Prob. R13RQCh. 8 - Prob. R14RQCh. 8 - Prob. R15RQCh. 8 - Prob. R16RQCh. 8 - Prob. R17RQCh. 8 - Prob. R18RQCh. 8 - Prob. R19RQCh. 8 - Prob. R20RQCh. 8 - Prob. R21RQCh. 8 - Prob. R22RQCh. 8 - Prob. R23RQCh. 8 - Prob. R24RQCh. 8 - Prob. R25RQCh. 8 - Prob. R26RQCh. 8 - Prob. R27RQCh. 8 - Prob. R28RQCh. 8 - Prob. R29RQCh. 8 - Prob. R30RQCh. 8 - Prob. R31RQCh. 8 - Prob. R32RQCh. 8 - Prob. R33RQCh. 8 - Prob. P1PCh. 8 - Prob. P2PCh. 8 - Prob. P3PCh. 8 - Prob. P4PCh. 8 - Prob. P5PCh. 8 - Prob. P6PCh. 8 - Prob. P8PCh. 8 - Prob. P12PCh. 8 - Prob. P13PCh. 8 - Prob. P14PCh. 8 - Prob. P18PCh. 8 - Prob. P20PCh. 8 - Prob. P21PCh. 8 - Prob. P22PCh. 8 - Prob. P23P
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