Problem 2 The data acquisition of a robotic system acquires four measurements, which are related to the moving velocity of the end-effector in three directions. The relationship between the linear velocities and joint parameters can be described as the following equation 0 2 4 -1 2 1 q 3 148 (2a) What is the dimension of the corresponding dimension of the pseudoinverse Jacobian matrix? (2b) Find the pseudoinverse Jacobian matrix of this system. (2c) Find the parameters of q if the velocities are Vx = 1 m/s, Vy = 4 m/s, and vz = -5 m/s