Automating SSH for Scripting

Every time I create a new script to automate some mindless task of mine that requires logging into remote hosts via ssh (for remote execution, file uploading/downloading via sftp, etc.) I forget how to setup SSH such that I don't have to use a password. I always remember the general "idea" (whatever that means) but I forget the specifics, and have to dig through numerous man pages before finally figuring it out.

problem:
You want to use SSH in some automated script, but you're always being prompted for a password.

solution:
The solution is simple. You want to automate the task of authentication with SSH. This is done via public/private key pairs. As an example, let's suppose that user worf on machine pagh wants to be able to login as user picard on the machine enterprise. First, as user worf on the machine pagh, generate a public/private key pair by doing the following: 

   # ssh-keygen -t dsa
The -t dsa specifies the type of keys you want to create, and can be either rsa or dsa. You'll then be asked where you would like SSH to save the keys. The default is /home/worf/.ssh/id_dsa, and should be fine (just hit enter). Next, you'll be asked for a passphrase. Don't enter one! That's the whole reason you're creating these keys! To keep the passphrase empty, just hit enter. Finally, you'll be asked to enter the same passphrase again, and (just as before) hit enter to keep it empty. You then should see some confirmation that the keys are built and saved appropriately, such as 
   Your identification has been saved in /home/worf/.ssh/id_dsa.
   Your public key has been saved in /home/worf/.ssh/id_dsa.pub.
Next, you need to copy the public key to Picard's account on the machine you want to be able to login to. Copy it there however you'd like, such as 
   # scp /home/worf/.ssh/id_dsa.pub picard@enterprise:/home/picard
Finally, you just need to add the public key to Picard's list of authorized keys, by doing the following: 
   # cat /home/picard/id_dsa.pub >> /home/picard/.ssh/authorized_keys
You should now be able, as user worf on the machine pagh, to login as user picard on the machine enterprise via ssh/scp/sftp without being prompted for a password.