Question: ( b ) . Let q is a point rigidly attached to the end effector frame { b } . The position of q in

(b). Let q is a point rigidly attached to the end effector frame {b}. The position of q in the frame {b} is (1,0,-1). Write a MATLAB function, named q= SpatialPositionQ (t), which returns the position of point q in the fixed frame {s} at any given time t. You can call Tsb = EEFrameConfig(t) from this function (in fact, it is recommended to do so.)
(b). Let q is a point rigidly attached to the end

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