Exercise 3.48 Use the provided software to write a program that allows the user to specify an initial configuration of a rigid body by T, a screw axis specified by {q, , h} in the fixed frame {s}, and the total distance traveled along the screw axis, 8. The program should calculate the final configuration T1 = e[S]T attained when the rigid body follows the screw S a distance 0, as well as the intermediate configurations at 4/4, 0/2, and 38/4. At the initial, intermediate, and final configurations, the program should plot the {b} axes of the rigid body. The program should also calculate the screw axis S1 and the distance 01 following Si that takes the rigid body from T to the origin and it should plot the screw axis S1. Test the program with q = (0,2,0), = (0,0,1), h = 2, A=, and 1 0 0 2 0 1 0 0 0 0 0 0 0 0 1 T = 1 Exercise 3.48 Use the provided software to write a program that allows the user to specify an initial configuration of a rigid body by T, a screw axis specified by {q, , h} in the fixed frame {s}, and the total distance traveled along the screw axis, 8. The program should calculate the final configuration T1 = e[S]T attained when the rigid body follows the screw S a distance 0, as well as the intermediate configurations at 4/4, 0/2, and 38/4. At the initial, intermediate, and final configurations, the program should plot the {b} axes of the rigid body. The program should also calculate the screw axis S1 and the distance 01 following Si that takes the rigid body from T to the origin and it should plot the screw axis S1. Test the program with q = (0,2,0), = (0,0,1), h = 2, A=, and 1 0 0 2 0 1 0 0 0 0 0 0 0 0 1 T = 1